DRS Research

/DRS Research
DRS Research 2018-04-22T21:55:48+00:00

Research in the Dynamics Robot Systems Group

The research we do spans a range of areas including motion planning state estimation, mapping, control and learning – typically focused on legged or dynamic robots.

Motion Planning: Walking robots typically have many more degrees of freedom (DOF) than typical fixed-base robots. This gives advantages of redundancy – making it possible to reach to a certain goal in many different ways. However it also brings complexity as the high number of DOFs (e.g. 12) and the requirement to remain balanced mean that typical planning approaches designed for low dimensional robots do not scale. In addition when walking there is the issue of making and breaking foot contact which makes the problem both discrete and continuous.

State Estimation and Mapping: In robotics a core problem is simultaneous localization and mapping (SLAM). We research estimation techniques focus towards walking robots. The challenge in this domain is that foot impacts and sudden motions of the robot cause many common methods to fail. In addition estimation and mapping on dynamic robots involves fusion of different sensor sources such as inertial, kinematic, LIDAR, vision, radar and force sensors. We have applied these methods to robots such as the Boston Dynamics Atlas, IIT’s HyQ and our current robot the Anymal.

1812, 2017

THING EU Project

The subTerranean Haptic INvestiGator Project is an EU H2020 funded project which brings together lead researchers to focus on haptic navigation for walking robots. The project will focus on developing new terrain sensing, estimation and control technology [...]

2711, 2017

Memmo EU Project

The MEMMO (Memory of Motion) Project is an EU H2020 funded project which brings together EU leaders in the field of motion planning and control of dynamic robots. In addition to ORI, partners will include [...]

2305, 2017

Legged Robots at ORI

  ORI is starting a major new research direction into legged robots. Drs. Ioannis Havoutis and Maurice Fallon have recently joined as academic staff with research expertise in control, planning and state estimation on dynamic [...]

Older Research

2104, 2017

Marine Structure Mapping

We present a novel marine mapping system using an Autonomous Surface Craft (ASC). The platform includes an extensive sensor suite for mapping environments both above and below the water surface. A relatively small hull size [...]

2104, 2017

Man Portable Mapping

Simultaneous Localization and Mapping (SLAM) has been a research focus for many years within the robotics community. Leveraging that expertise, we adapted SLAM algorithms to run on a body-worn sensing and computing package. The user [...]

2204, 2011

Cooperative AUV Navigation

Localization or navigation of AUVs using only onboard local sensors, such as a Doppler Velocity Logger (DVL) or Inertial Measurement Unit (IMU), are certain to experience accumulated positioning error. One can, of course, utilize more [...]