Title: “SupraPeds: Extended Humanoid Support for Challenging Environments.”
The challenges in deploying humanoid robots in unstructured environments are numerous, and include traversing rough terrain, integrating information from tactile, kinematic, and vision sensors, executing complex manipulations, and gracefully compensate for sensor occlusion and actuator limits. Efforts to make robots emulate humans, however, have ignored an important fact: whenever humans approach their limits, they augment their capabilities with tools. A walking staff is one practical example, which improves support, enables load redistribution to the upper body, and can also be used as a sensor to probe the stability of planned footsteps. In order to advance the primary goal of humanoid robots–emulating human capabilities and cooperating with humans—we propose to develop smart tools that can integrate with any humanoid platform and improve its ability to operate in unstructured environments.
In order to control the potentially numerous contact forces on SupraPeds, we developed a constraint-consistent task-oriented whole-body control framework that implements generic multi-contact control for arbitrary humanoids, which enables controls of task, posture, constraints, and balance in multiple contact situation.
Professor Oussama Khatib received his Doctorate degree in Electrical Engineering from Sup’Aero, Toulouse, France, in 1980. He is Professor of Computer Science at Stanford University. His work on advanced robotics focuses on methodologies and technologies in human-centered robotics including humanoid control architectures, human motion synthesis, interactive dynamic simulation, haptics, and human- friendly robot design. He is Co-Editor of the Springer Tracts in Advanced Robotics series, and has served on the Editorial Boards of several journals as well as the Chair or Co-Chair of numerous international conferences. He co-edited the Springer Handbook of Robotics, which received the PROSE Award. He is a Fellow of IEEE and has served as a Distinguished Lecturer. He is the President of the International Foundation of Robotics Research (IFRR). Professor Khatib is a recipient of the Japan Robot Association (JARA) Award in Research and Development. In 2010 he received the IEEE RAS Pioneer Award in Robotics and Automation for his fundamental pioneering contributions in robotics research, visionary leadership, and life-long commitment to the field. Professor Khatib received the 2013 IEEE RAS Distinguished Service Award in recognition of his vision and leadership for the Robotics and Automation Society, in establishing and sustaining conferences in robotics and related areas, publishing influential monographs and handbooks and training and mentoring the next generation of leaders in robotics education and research. In 2014, Professor Khatib received the 2014 IEEE RAS George Saridis Leadership Award in Robotics and Automation.
Dr. Shuyun Chung received his Doctorate degree in Mechanical Engineering from National Taiwan University, Taiwan, in 2010. In 2012, he joined the AI Lab, Stanford University, as a postdoctoral researcher. Dr. Chung’s work on advanced mobile robotics includes SLAMMOT (Simultaneous Localization, Mapping, and Moving Object Tracking), human-robot Interaction, human behavior learning, and motion-planning in uncertain environments. His current research interests focus on the humanoid locomotion control and planning in unstructured environments. Dr. Chung’s research work, SupraPeds, has been featured at the News/Discovery Channel of National Science Foundation, USA, in 2014.