Title: Navigation Autonomy for Legged Machines
Speaker: James Kuffner, Assistant Professor, Robotics Institute, Carnegie Mellon University
Date: Thursday, April 27, 2006
Time: Noon
Location: NSH 1109
Abstract:
Legged robots are complex dynamic systems whose technology has evolved rapidly during the past decade. Presently, several companies are developing commercial prototype biped and quadruped robots. In this talk, I will present research aimed at improving the autonomy of legged robots through the development of practical motion planning algorithms that can be applied in dynamic unstructured environments. Specifically, I will discuss footstep placement planning over rough terrain, our "intelligent joystick" design for semi-autonomous control, and navigation among movable obstacles (NAMO). Experimental results obtained by implementations running on Honda's ASIMO, the AIST HRP2 humanoid, the H7 Humanoid (U. Tokyo), and the Boston Dynamics Little Dog quadruped robot will be shown.
Speaker Bio:
James Kuffner is an Assistant Professor at the Robotics Institute, Computer Science Dept., Carnegie Mellon University. He received a B.S. and M.S. in Computer Science from Stanford University in 1993 and 1995, and a Ph.D. from the Stanford University Dept. of Computer Science Robotics Laboratory in 1999. He was a Japan Society for the Promotion of Science (JSPS) Postdoctoral Research Fellow at the University of Tokyo from 1999 to 2001. He joined the faculty at Carnegie Mellon University in May 2002. His research interests include robotics, motion planning, and computer graphics and animation.
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