Simultaneous localization and mapping for the Halodi EVEr3 humanoid robot – Biomechatroics
Short Introduction
The EVEr3 humanoid robot platform has been acquired and it is available at UiA. This robot allows robotics researchers to be focused on developing new algorithms and solutions without having to build a platform first. The close-to-direct drive transmission technology in the robot allows for easy interactions with the real world. The robot has been designed from the ground up to facilitate the lowest simulation gap possible to ease machine learning development, testing and deployment.
Keywords
- Automation
- Programming
- Control Theory
- Waerable Technology
- Multisiciplinary Research
Project Description
The principal objective of this research proposal is to design, simulate and analyze a simultaneous localization and mapping algorithm for the robot, as depicted in Figure 1. By using the onboard sensors, the robot should be able to navigate within UiA Campus. Obstacles and humans should be safely avoided.
Contact information:
|
Full name |
E-mail address |
|
Filippo Sanfilippo |
filippo.sanfilippo@uia.no |
|
Kristian Muri Knausgård |
kristian.m.knausgard@uia.no |
|
Morten Hallquist Rudolfsen |
morten.rudolfsen@uia.no |
|
Jim Tørresen (internal UiO) |
jimtoer@ifi.uio.no |
Enhancing the level of autonomy for the Boston Dynamics Spot Robot for Search-and-Rescue
Short Introduction
In nature, legged animals can gracefully traverse a wide range of different and complex environments. Robots that can mimic this behaviour could be fitted with sensors and transport tools to hazardous or confined areas that other robots and humans are unable to access. To carry out such tasks, these robots must have a high degree of awareness of their surroundings (i.e., perception) and be capable of efficient obstacle exploitation. These aspects are pivotal in order to realise the large variety of possible robot applications in real-life operations such as fire-fighting, industrial inspection, search-and-rescue, and more. In this perspective, Boston Dynamics recently introduced Spot, a nimble robot that climbs stairs and traverses rough terrain with unprecedented ease, yet is small enough to use indoors. In cooperation with the Mechatronics Innovation Lab AS, the Spot robot is available at UiA.
Project Description
In this thesis, different levels of autonomy are identified for the Spot robot and categorised into environmental complexity, mission complexity, and external system independence. A step-wise approach on how to increment the robot abilities within guidance, navigation, and control will be followed in order to target the different levels of autonomy.
Keywords
- Automation
- Programming
- Control Theory
- Wearable Technology
- Multisiciplinary Research
Additional Information
The students will also get the opportunity to write a scientific article related to the thesis.
Contact information:
|
Full name |
E-mail address |
|
Filippo Sanfilippo |
filippo.sanfilippo@uia.no |
|
Morten Kollerup Bak |
morten@mil-as.no |
|
Jim Tørresen (internal UiO) |
jimtoer@ifi.uio.no |