Active Projects

Coming Soon..

In the meanwhile checkout whats happening with Drake.

Past Projects

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
doi: 10.1109/IROS.2015.7353848
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
doi: 10.1109/IROS.2015.7353746
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.

algorithm

Sample Publication

C Latella, N Kuppuswamy, F Romano, S Traversaro, F Nori “Whole-Body Human Inverse Dynamics with Distributed Micro-Accelerometers, Gyros and Force Sensing“, Sensors 16 (5), 727.

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.

 

Sample Publication

(Under review – to be updated soon).

 

Advertisements

Robotics – State estimation – human movement – bio-inspiration

%d bloggers like this: