/Dynamically-Stable Mobile Robots in Human Environments

Dynamically-Stable Mobile Robots in Human Environments

Portrait of Dynamically-Stable Mobile Robots in Human Environments
Head: Ralph Hollis
Contact: Ralph Hollis
Associated Lab: Microdynamic Systems Laboratory
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Last Project Publication Year: 2012

In recent years, there has been a growing realization that much of the success in the application of industrial robots to manufacturing might also become true for mobile robots in the service sector. In particular, robots that could serve as personal assistants for people – especially those who are elderly or physically challenged – are moving from fantasy to the realm of the possible. The rapid progress in computing and the growing body of knowledge in robotics are leading us toward a goal which could have many benefits for society.

The human-machine interface is a key area of interest, particularly in the physical interaction between the robot and person. Industrial robot arms and research mobile robots are position-controlled (rather than force-controlled) devices which are heavy and clumsy. Their motions cannot readily accommodate to an environment made for people. Mobile robots that locomote with wheeled drives are slow and awkward, with wide bases providing static stability. What is needed is an entirely different approach to locomotion: mobile robots that are safe; dynamically agile and capable of graceful motion; slender enough to easily maneuver in cluttered, peopled environments; and which readily yield when pushed around. Intelligent machines of this sort can only be achieved with dynamic stability.

Our research goal is to gain a deeper understanding of how such dynamic agility can be achieved in mobile machines interacting with people and operating in normal home and workplace environments. We are developing novel dynamically-stable rolling machine and walking machine research platforms to study this issue. We will evaluate the efficacy of this type of dynamic locomotion in the context of human environments.

Significant insights will be gained from this research toward producing agile motive platforms which in the future could be combined with the research community’s ongoing work in perception, navigation, and cognition, to yield truly capable intelligent mobile robots for use in physical contact with people. Such robots could provide many useful services, especially for the elderly or physically challenged, in their everyday work and home environments. Many other uses such as entry into hostile environments, rescue in buildings, and surveillance to safeguard people or property can be envisioned.

Displaying 12 Publications
Integrated Planning and Control for Graceful Navigation of Shape-Accelerated Underactuated Balancing Mobile Robots
Umashankar Nagarajan, George A. Kantor and Ralph Hollis

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 136-141, May, 2012
Planning in High-dimensional Shape Space for a Single-wheeled Balancing Mobile Robot with Arms
Umashankar Nagarajan, Byungjun Kim and Ralph Hollis

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 130-135, May, 2012
Hybrid Control for Navigation of Shape-Accelerated Underactuated Balancing Systems
George A. Kantor and Ralph Hollis

Conference Paper, Proceedings of the 49th IEEE Conference on Decision and Control, December, 2010
Hybrid Control for Navigation of Shape-Accelerated Underactuated Balancing Systems
Umashankar Nagarajan, George A. Kantor and Ralph Hollis

Conference Paper, Proceedings of IEEE Conference on Decision and Control (CDC), pp. 3566-3571, December, 2010
Dynamic Constraint-based Optimal Shape Trajectory Planner for Shape-Accelerated Underactuated Balancing Systems
Umashankar Nagarajan

Conference Paper, Proceedings of 2010 Robotics: Science and Systems, June, 2010
Human-Robot Physical Interaction with Dynamically Stable Mobile Robots
Umashankar Nagarajan, George A. Kantor and Ralph Hollis

Conference Paper, Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI 2009), pp. 281-282, May, 2009
State Transition, Balancing, Station Keeping and Yaw Control for a Dynamically Stable Single Spherical Wheel Mobile Robot
Umashankar Nagarajan, Anish Mampetta, George A. Kantor and Ralph Hollis

Conference Paper, Proceedings of the IEEE International Conference on Robotics & Automation (ICRA 2009), pp. 998 - 1003, May, 2009
Trajectory Planning and Control of a Dynamically Stable Single Spherical Wheeled Mobile Robot
Umashankar Nagarajan, George A. Kantor and Ralph Hollis

Conference Paper, Proceedings of the IEEE International Conference on Robotics & Automation (ICRA 2009), pp. 3743-3748, May, 2009
Automatic Transition of Ballbot from Statically Stable State to Dynamically Stable State
Anish Mampetta

Master's Thesis, Tech. Report, CMU-RI-TR-06-41, Robotics Institute, Carnegie Mellon University, September, 2006
Modeling Dynamics and Exploring Control of a Single-Wheeled Dynamically Stable Mobile Robot with Arms
Eric Schearer

Master's Thesis, Tech. Report, CMU-RI-TR-06-37, Robotics Institute, Carnegie Mellon University, August, 2006
A Dynamically Stable Single-Wheeled Mobile Robot with Inverse Mouse-Ball Drive
Tom Lauwers, George A. Kantor and Ralph Hollis

Conference Paper, Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), pp. 2884 - 2889, May, 2006
One is Enough!
Tom Lauwers, George A. Kantor and Ralph Hollis

Conference Paper, Proceedings of Proc. Int'l. Symp. for Robotics Research, October, 2005

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