In the meanwhile checkout whats happening with Drake.
From July 2014- June2016, I was a member of the Dynamic Interaction Control Group of the iCub Facility of Istituto Italiano di Tecnologia (Italian Institute of Technology). Our group, under the direction of Francesco Nori has focussed on developing state-of-art methods for humanoid robots to control their interaction forces; the result is that such robots can exploit their dynamics and suitably perform task in the complex environments such as homes.
My research has been primarily in the following 3 directions :
1. Probabilistic State Estimation for Articulated Robots
A valuable component necessary for the control of interaction forces (force / torque control strategies) is an effective approach for whole-body state estimation. In this research, I have explored the following projects along with my colleagues.
a. Whole-body state estimation for humanoids
Sample publication :
Nori, Francesco; Kuppuswamy, Naveen; Traversaro, Silvio, “Simultaneous state and dynamics estimation in articulated structures,” in Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on , vol., no., pp.3380-3386, Sept. 28 2015-Oct. 2 2015
IEEE Explore page
b. Foot state estimation for legged robots
Sample Publication :
Eljaik, Jorhabib; Kuppuswamy, Naveen; Nori, Francesco, “Multimodal sensor fusion for foot state estimation in bipedal robots using the Extended Kalman Filter,” in Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on , vol., no., pp.2698-2704, Sept. 28 2015-Oct. 2 2015
IEEE Explore Page
2. Human Dynamics estimation from motion capture
Using the methods developed for whole body state estimation for humanoids, we are currently developing strategies for dynamics estimation on human subjects using motion capture and external force sensing. We are progressively moving towards developing a wearable system for dynamics estimation on human subjects performing various tasks.
3. Optimal Impedance for walking on uneven terrains
In walking on uneven terrain, a key challenge is to cope with an unexpected orientation at the moment of contact. Impedance control can play a crucial role in mitigating the instability caused by the foot contact with the terrain. We analytically compute an optimal impedance for stabilising the robot in such situations by maximising a cost function based on foot center-of-pressure after full foot placement establishment.
(Under review – to be updated soon).