Publications

This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics natural human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.

This report summarizes the analytical and experimental efforts for the Laboratory Directed Research and Development (LDRD) project entitled ''Advancements in Sensing and Perception using Structured Lighting Techniques''. There is an ever-increasing need for robust, autonomous ground vehicles for counterterrorism and defense missions. Although there has been nearly 30 years of government-sponsored research, it is undisputed that significant advancements in sensing and perception are necessary. We developed an innovative, advanced sensing technology for national security missions serving the Department of Energy, the Department of Defense, and other government agencies. The principal goal of this project was to develop an eye-safe, robust, low-cost, lightweight, 3D structured lighting sensor for use in broad daylight outdoor applications. The market for this technology is wide open due to the unavailability of such a sensor. Currently available laser scanners are slow, bulky and heavy, expensive, fragile, short-range, sensitive to vibration (highly problematic for moving platforms), and unreliable for outdoor use in bright sunlight conditions. Eye-safety issues are a primary concern for currently available laser-based sensors. Passive, stereo-imaging sensors are available for 3D sensing but suffer from several limitations : computationally intensive, require a lighted environment (natural or man-made light source), and don't work for many scenes or regions lacking texture or with ambiguous texture. Our approach leveraged from the advanced capabilities of modern CCD camera technology and Center 6600's expertise in 3D world modeling, mapping, and analysis, using structured lighting. We have a diverse customer base for indoor mapping applications and this research extends our current technology's lifecycle and opens a new market base for outdoor 3D mapping. Applications include precision mapping, autonomous navigation, dexterous manipulation, surveillance and reconnaissance, part inspection, geometric modeling, laser-based 3D volumetric imaging, simultaneous localization and mapping (SLAM), aiding first responders, and supporting soldiers with helmet-mounted LADAR for 3D mapping in urban-environment scenarios. The technology developed in this LDRD overcomes the limitations of current laser-based 3D sensors and contributes to the realization of intelligent machine systems reducing manpower need.

Abstract not provided.