Search Results - "Koolen, Twan"

Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot by Kuindersma, Scott, Deits, Robin, Fallon, Maurice, Valenzuela, Andrés, Dai, Hongkai, Permenter, Frank, Koolen, Twan, Marion, Pat, Tedrake, Russ

“…This paper describes a collection of optimization algorithms for achieving dynamic planning, control, and state estimation for a bipedal robot designed to…”
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Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models by Koolen, Twan, de Boer, Tomas, Rebula, John, Goswami, Ambarish, Pratt, Jerry

“…This two-part paper discusses the analysis and control of legged locomotion in terms of N-step capturability: the ability of a legged system to come to a stop…”
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Team IHMC's Lessons Learned from the DARPA Robotics Challenge Trials by Johnson, Matthew, Shrewsbury, Brandon, Bertrand, Sylvain, Wu, Tingfan, Duran, Daniel, Floyd, Marshall, Abeles, Peter, Stephen, Douglas, Mertins, Nathan, Lesman, Alex, Carff, John, Rifenburgh, William, Kaveti, Pushyami, Straatman, Wessel, Smith, Jesper, Griffioen, Maarten, Layton, Brooke, de Boer, Tomas, Koolen, Twan, Neuhaus, Peter, Pratt, Jerry

“…This article is a summary of the experiences of the Florida Institute for Human & Machine Cognition (IHMC) team during the DARPA Robotics Challenge (DRC)…”
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An Architecture for Online Affordance-based Perception and Whole-body Planning by Fallon, Maurice, Kuindersma, Scott, Karumanchi, Sisir, Antone, Matthew, Schneider, Toby, Dai, Hongkai, D'Arpino, Claudia Pérez, Deits, Robin, DiCicco, Matt, Fourie, Dehann, Koolen, Twan, Marion, Pat, Posa, Michael, Valenzuela, Andrés, Yu, Kuan-Ting, Shah, Julie, Iagnemma, Karl, Tedrake, Russ, Teller, Seth

“…The DARPA Robotics Challenge Trials held in December 2013 provided a landmark demonstration of dexterous mobile robots executing a variety of tasks aided by a…”
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Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion by Englsberger, Johannes, Koolen, Twan, Bertrand, Sylvain, Pratt, Jerry, Ott, Christian, Albu-Schaffer, Alin

“…This paper works with the concept of Divergent Component of Motion (DCM), also called `(instantaneous) Capture Point'. We present two real-time DCM trajectory…”
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Balance control using center of mass height variation: Limitations imposed by unilateral contact by Twan Koolen, Posa, Michael, Tedrake, Russ

“…Maintaining balance is fundamental to legged robots. The most commonly used mechanisms for balance control are taking a step, regulating the center of pressure…”
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Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid by Pratt, Jerry, Koolen, Twan, de Boer, Tomas, Rebula, John, Cotton, Sebastien, Carff, John, Johnson, Matthew, Neuhaus, Peter

“…This two-part paper discusses the analysis and control of legged locomotion in terms of N-step capturability: the ability of a legged system to come to a stop…”
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Director: A User Interface Designed for Robot Operation with Shared Autonomy by Marion, Pat, Fallon, Maurice, Deits, Robin, Valenzuela, Andrés, Pérez D'Arpino, Claudia, Izatt, Greg, Manuelli, Lucas, Antone, Matt, Dai, Hongkai, Koolen, Twan, Carter, John, Kuindersma, Scott, Tedrake, Russ

“…Operating a high degree of freedom mobile manipulator, such as a humanoid, in a field scenario requires constant situational awareness, capable perception…”
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Benchmarking and Workload Analysis of Robot Dynamics Algorithms by Neuman, Sabrina M., Koolen, Twan, Drean, Jules, Miller, Jason E., Devadas, Srinivas

“…Rigid body dynamics calculations are needed for many tasks in robotics, including online control. While there currently exist several competing software…”
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Julia for robotics: simulation and real-time control in a high-level programming language by Koolen, Twan, Deits, Robin

“…Robotics applications often suffer from the 'two-language problem', requiring a low-level language for performance-sensitive components and a high-level…”
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LVIS: Learning from Value Function Intervals for Contact-Aware Robot Controllers by Deits, Robin, Koolen, Twan, Tedrake, Russ

“…Guided policy search is a popular approach for training controllers for high-dimensional systems, but it has a number of pitfalls. Non-convex trajectory…”
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Threshold Amplitude and Frequency for Ocular Tissue Release from a Vibrating Instrument: An Experimental Study by Maaijwee, Kristel, Koolen, Twan, Rosenbrand, Dagmar, Jacobs, Elmer, Kleinheerenbrink, Sander, Knulst, Arjan, Bos, Joop, Holland, Wim P, Brouwer, Alex, van Meurs, Jan C, Schutte, Sander

“…During retinal pigment epithelium (RPE) and choroid graft translocation in the treatment of patients with exudative age-related macular degeneration, the…”
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LVIS: Learning from Value Function Intervals for Contact-Aware Robot Controllers by Deits, Robin, Koolen, Twan, Tedrake, Russ

“…Guided policy search is a popular approach for training controllers for high-dimensional systems, but it has a number of pitfalls. Non-convex trajectory…”
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The Yobotics-IHMC Lower Body Humanoid Robot by Pratt, J.E., Krupp, B., Ragusila, V., Rebula, J., Koolen, T., van Nieuwenhuizen, N., Shake, C., Craig, T., Taylor, J., Watkins, G., Neuhaus, P., Johnson, M., Shooter, S., Buffinton, K., Canas, F., Carff, J., Howell, W.

“…This video highlights work to date on the Yobotics-IHMC lower body humanoid robot. The robot is a twelve degree-of-freedom robot with force controllable series…”
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Summary of Team IHMC's virtual robotics challenge entry by Koolen, Twan, Smith, Jesper, Thomas, Gray, Bertrand, Sylvain, Carff, John, Mertins, Nathan, Stephen, Douglas, Abeles, Peter, Englsberger, Johannes, McCrory, Stephen, van Egmond, Jeff, Griffioen, Maarten, Floyd, Marshall, Kobus, Samantha, Manor, Nolan, Alsheikh, Sami, Duran, Daniel, Bunch, Larry, Morphis, Eric, Colasanto, Luca, Khai-Long Ho Hoang, Layton, Brooke, Neuhaus, Peter, Johnson, Matthew, Pratt, Jerry

“…This paper presents a high level overview of the work done by Team IHMC (Florida Institute for Human and Machine Cognition) to win the DARPA Virtual Robotics…”
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