Title: “Curved Surface Patches for Rough Terrain Perception on WALK-MAN.”
Attaining animal-like legged locomotion on rough outdoor terrain with sparse foothold affordances –a primary use-case for legs vs other forms of locomotion– is a largely open problem. New advancements in control and perception have enabled bipeds to walk on flat and uneven indoor environments. But tasks that require reliable contact with unstructured world surfaces, for example walking on natural rocky terrain, need new perception and control algorithms. In this talk we will discuss our real-time perception approach for representing the footsteps in the environment as a sparse map of curved contact patches, tested on a full-sized humanoid robot (WALK-MAN).
Dimitrios Kanoulas is a postdoctoral researcher at the Department of Advanced Robotics/Humanoids & Human Centered Mechatronics at the Istituto Italiano di Tecnologia (IIT), working with Nikos Tsagarakis on the WALK-MAN project (also part of the DRC). In August 2014, he completed his Ph.D. at the Geometric and Physical Computing (GPC) Lab in the College of Computer and Information Science at Northeastern University, advised by Prof. Marsette Vona. He started out as a member of the Algorithms and Theory group at Northeastern University, advised by Prof. Rajmohan Rajaraman and Ravi Sundaram. During the summer of 2012, he completed an internship at INRIA in France, advised by Prof. Christian Laugier and Dr. Alexandros Makris. He received his B.S. in Computer Engineering and Informatics Department from University of Patras, Greece in 2008, advised by Prof. Paul Spirakis, and Dr. Haralampos Tsaknakis.