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Joel Chestnutt
Extern, RI
No longer a member of RI.

Past Projects
 
Actuator with Mechanically Adjustable Series Compliance (AMASC)
We are developing actuation methods for highly dynamic legged locomotion.
Footstep Planning for Biped Robots
Navigation strategies for bipeds through complex environments, planning for the full capabilities of the biped.
GPU-accelerated Computer Vision
We are exploiting programmable graphics hardware to improve existing vision algorithms and enable novel approaches to robot perception.
Learning Locomotion
Robust planning and control of the quadruped robot "Little Dog" to traverse rough terrain (DARPA sponsored).
The Electric Cable Differential (ECD) Leg
We are designing a bipedal robot to be capable of running, walking, jumping, hopping, and generally behaving in a highly dynamic manner.