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Foundations of Robotics
Seminar, February 8, 2006
Time
and Place | Seminar Abstract | Speaker
Biography | Presentation Slides | Speaker
Appointments
Finding Structure in
Mobile-Robot Error Recovery
Ravi Balasubramanian
Smith Hall 100
Refreshments 4:45 pm
Talk 5:00 pm
It's a tough world for mobile robots: the
terrain is rugged, their legs get trapped in crevices, they struggle with poor
surface traction, and they wait for human assistance to recover. How can
we study such problems to improve mobile-robot robustness? This talk
presents our approach to mobile-robot error-recovery problems: modeling the available robot freedoms and exploiting the
robot's internal dynamics.
We focus on two specific examples: 1) a high-centered
legged robot and 2) a wheeled robot stuck in a ditch. In the high-centered robot problem, we use mechanical-systems theory to
analyze a novel locomotion technique called 'legless locomotion': the robot locomotes using the reaction forces produced by swinging
its legs. In the wheeled-robot problem, we use dynamic programming to
explore the solution space, since our hand-crafted solutions don't work well.
In future work, we will explore other locomotion errors and search for a
common structure.
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Speaker Appointments |
For appointments, please contact Ravi Balasubramanian (ravib@cmu.edu)
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.