In the first video, Valkyrie, aided by a new whole-body compliant control and planning architecture, turns an industrial valve while being assisted by a skilled operator. In the second video, Valkyrie undergoes a series of tests to coordinate her upper and lower body.
Hume’s Performance Results with Force Control SEA actuators
A new control architecture that utilizes effectively the force controlled Series Elastic Actuators of Hume is put to use for precision motion tracking under gravity disturbances.
Whole-Body Compliant Mobility in Sloped Terrains, Accepted to Springer’s Autonomous Robots
“Implementation and stability analysis of prioritized whole-body compliant controllers on a wheeled humanoid robot in uneven terrains”, Springer’s Autonomous Robots, Vol. 35, Nu. 4, pp. 301-319, August 2013.
Click on the image below for a link to the PDF
Paper on Mobility in Rough and Cluttered Environments gets accepted to European Conference on Mobile Robotics
Bumping into walls
Bumping into humans!
UT Series Elastic Actuator, Accepted to IEEE/ASME Transactions on Mechatronics
“Design and Control Considerations for High Performance Series Elastic Actuators”, IEEE/ASME Transactions on Mechatronics, In Press
Link to the video
Click on the image below for a link to the PDF
Dreamer Receives a New Arm
Dreamer receives a new 7 Degree of Freedom, Series Elastic Arm manufactured by Meka. A new gripper is being designed to allow dual hand manipulation.
Gyroscopic Telemanipulation of a Blindfolded Human
Trikey Compliant Mobile Base 2012 Completed
Talk at Dynamic Walking 2012
Dr. Sentis gives a talk at Dynamic Walking 2012 on Rough Terrain Locomotion.
