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个人简介
Research work has included the Robot Operating System (ROS) and a variety of low-cost robotic systems, including arms, hands, and localization methods.
Past projects include:
OVC: The Open Vision Computer (OVC) is an open-source (hardware, software, firmware) smart-camera project which runs ROS internally. This device is designed particularly for space- and mass-constrained applications, such as small drones or robot heads.
Sandia STEPPR and WANDRR robots: In collaboration with Sandia National Laboratories and others at OSRF and elsewhere, I designed the electrical systems and firmware for the Sandia STEPPR and WANDRR high-efficiency biped robots, supported by the DARPA M3 program. The program goal was to create human-size walking machines that required dramatically less power than prior generations of bipedal robots. We demonstrated WANDRR at the 2015 DARPA Robotics Challenge (DRC), where it walked for 4 hours on a single battery charge (plus another hour of standing around), covering 2.8 kilometers with an average power consumption in the 450-watt range (including all onboard electronics, computers, etc.). Video available here showing the design, assembly, and operation of the robots.
Sandia Hand: The Sandia Hand is a sensor-rich, high-DOF robotic hand. I designed and implemented its electronics (14 microcontrollers, an FPGA, 12 brushless motor drivers, a stereo camera pair, 100 tactile sensors, 13 inertial units, 4 strain gages, etc.), and its firmware and software, which are fully open source. Here is a video of the hand being teleoperated. A later version of the hand made its way onto several robots in the 2013 DARPA Robotics Challenge. This video of Lockheed Martin's TROOPER shows some footage of the hand on an ATLAS robot from Boston Dynamics.
Past projects include:
OVC: The Open Vision Computer (OVC) is an open-source (hardware, software, firmware) smart-camera project which runs ROS internally. This device is designed particularly for space- and mass-constrained applications, such as small drones or robot heads.
Sandia STEPPR and WANDRR robots: In collaboration with Sandia National Laboratories and others at OSRF and elsewhere, I designed the electrical systems and firmware for the Sandia STEPPR and WANDRR high-efficiency biped robots, supported by the DARPA M3 program. The program goal was to create human-size walking machines that required dramatically less power than prior generations of bipedal robots. We demonstrated WANDRR at the 2015 DARPA Robotics Challenge (DRC), where it walked for 4 hours on a single battery charge (plus another hour of standing around), covering 2.8 kilometers with an average power consumption in the 450-watt range (including all onboard electronics, computers, etc.). Video available here showing the design, assembly, and operation of the robots.
Sandia Hand: The Sandia Hand is a sensor-rich, high-DOF robotic hand. I designed and implemented its electronics (14 microcontrollers, an FPGA, 12 brushless motor drivers, a stereo camera pair, 100 tactile sensors, 13 inertial units, 4 strain gages, etc.), and its firmware and software, which are fully open source. Here is a video of the hand being teleoperated. A later version of the hand made its way onto several robots in the 2013 DARPA Robotics Challenge. This video of Lockheed Martin's TROOPER shows some footage of the hand on an ATLAS robot from Boston Dynamics.
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论文共 45 篇作者统计合作学者相似作者
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引用31浏览0EIWOS引用
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Rodrigo Rimando, Alex Watts, John Bobbitt, Doug McLaughlin,Morgan Quigley, Scott Gladwell, Mike McLoughlin, Tony Kinnamon, Joe Garcia,Alex Ansari,Richard Voyles, David Chambers,
user-5ebe3bbdd0b15254d6c50b2c(2016)
引用0浏览0引用
0
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Programming Robots with ROS: A Practical Introduction to the Robot Operating System (2015)
引用167浏览0EI引用
167
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Anirban Mazumdar,Steven Spencer,Jonathan Salton,Clinton Hobart,Joshua Love, Kevin Dullea,Michael Kuehl, Timothy Blada,Morgan Quigley,Jesper Smith,Sylvain Bertrand,Tingfan Wu,
2015 IEEE International Conference on Robotics and Automation (ICRA)pp.835-841, (2015)
引用18浏览0EIWOS引用
18
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2012 4TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB)pp.1500-1505, (2012)
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