Dynamic Robot Systems

//Dynamic Robot Systems
Dynamic Robot Systems 2018-12-09T21:54:15+00:00

Dynamic Robot Systems Group researches control, motion planning, mapping and navigation for dynamically moving robots. Our work has application to walking, flying and mobile robots. Here’s a recent overview of our walking robotics research:

Brief News

10/10/2018:

We tested autonomous navigation at recent field trials at the Fire Service College (a training centre for firefighters) for the EPSRC ORCA Robotics Hub.

01/09/2018:

Georgi Tinchev’s paper will appear at ICRA next month “Seeing the Wood for the Trees: Reliable Localization in Urban and Natural Environments”. The paper involves localising in natural environments (forests) using LIDAR. The work adapts Segmatch from Renaud Dubé and Cesar Cadena.

Here’s a project page about the NSM algorithm.

01/07/2018:

Anymal, our awesome quadruped from Anybotics, has been delivered and we have been out in the local park testing it.

01/04/2018:

Phew! It’s been a busy couple of months in DRS. Both EU projects have kicked off. Each now has a website and twitter feed:

20/02/2018:

As part of the THING and MEMMO projects we have 3 post-doc positions available across the research areas of dynamic locomotion:

  • Motion Planning and Control: planning dynamic motions in challenge environments. The MEMMO project is about pre-computing high dimensional trajectories to improve thereactivity of (model predicative) control. job advert
  • Tactile Estimation and Active Control: The THING project is about improving everything tactile and haptic during quadruped walking & contact – materials, sensing, control, planning and estimation. job advert
  • Reconstruction and Mapping: building efficient reliable navigation systems to demonstrate quadrupeds doing inspection – fusing inertial sensing and vision. job advert

Feel free to contact Maurice or Ioannis for more information. We are making a major investment in walking robots in ORI including purchasing a copy of Anymal – an awesome quadruped robot from the RSL Lab in ETH. We will have lab space a new building in late 2018. Oxford is a wonderful place to live and work, come join us!

10/01/2018:

DRS has had some great success with our ICRA submissions this year. The following 4 papers will be presented in Brisbane in May:

  • M. J. A. Zeestraten, I. Havoutis, and S. Calinon, ‘Programming by Demonstration for Shared Control with an Application in Teleoperation’. (also appearing in the RA-L Journal). pdf
  • S. Nobili, G. Tinchev, and M. Fallon, ‘Predicting Alignment Risk to Prevent Localization Failure’. pdf. video
  • C. Rauch, T. Hospedales, J. Shotton, and M. Fallon, ‘Visual Articulated Tracking in the Presence of Occlusions’. pdf. video
  • R. Scona, M. Jaimez, Y. R. Petillot, M. Fallon, and D. Cremers, ‘StaticFusion: Background Reconstruction for Dense RGB-D SLAM in Dynamic Environments’. pdf. video

These works involve collaborations with IIT and IDIAP, the Cremers lab in TUM, Jamie Shotton at Microsoft Hololens.

20/09/2017:

We are excited to say that two EU Projects in the area of walking robots have been funded and will begin in 2018:

  • MEMMO will be led by Nicolas Mansard from LAAS (Toulouse). It will involve motion planning for dynamic legged robots. Partners include MPI (L. Rigetti), Edinburgh (S. Vijayakumar), IDIAP (S. Calinon) as well as PAL Robotics and Wandercraft.
  • THING will be led by Michael Mistry from University of Edinburgh. THING will develop technology and algorithms in all areas of physical contact – such as contact sensing, navigation with contact sensors and better footstep placement. Developments will be centred around the state-of-the-art quadruped ANYmal developed by the Robot Systems Lab in ETH Zurich.

08/09/2017:

DRS have the following papers appearing in IROS 2017:

  • M Zeestraten, I Havoutis, S Calinon and D Caldwell, “Learning Task-Space Synergies Using Riemannian Geometry”.
  • R Scona, S Nobili, Y Petillot, M Fallon, “Direct Visual SLAM Fusing Proprioception for a Humanoid Robot”.

Pre-prints can be downloaded from the publications page.

Highlights

27Nov, 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 [...]

23May, 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 [...]