CURRENT PROJECTS
Computational Approach to Dynamical Bipedal Walking
Investigators: Guobiao Song and Miloš Žefran
The goal of this research project is to establish a general framework and a pure
computational implementation for stabilization of periodic orbits for hybrid
systems with impact effects. Especially, this is applied to bipedal walking.
We perform the robust controller design for two- and three-dimensional
underactuated biped robots. We demonstrate that dynamics of the hybrid system
along a periodic orbit can be decomposed into the transverse and tangential
components for hybrid systems. The robust control synthesis problem of the
resulting periodic transverse linearization can be cast as a semidefinite
program (SDP) and thus efficiently solved by means of Linear Matrix Inequality
(LMI).
Past research topics in this area include:
- research in the robust Lyapunov stability theory for hybrid systems
- development of Matlab and Mathematica tools for robust control synthesis for a class of hybrid systems based on LMI
- development of a computational optimizing approach in generating energy efficient walking gaits for underactuated dynamical bipedal walking
- design and implementation of a novel control approach based on these theories and tools
Support: NSF grant IIS-0093581 and UIC Campus Research Board
Application of Hybrid Optimal Control to Multi-vehicle Path Planning
Investigators: Shangming Wei and Miloš Žefran
The project studies the path planning problem of a system consisting
of multiple autonomous vehicles. The basic problem formulation is to
move the vehicles from some initial states to some final states, while
at the same time avoiding each other and the obstacles in the
environment. The goal is to find energy-optimal paths for these
vehicles. We have converted it into a hybrid optimal control problem
and are trying to find fast and effective approaches to numerically
solve the problem. Some developed techniques have been successfully
applied in examples of some types of wheeled mobile robots (for
example, unicycle and Hilare robot). See details.
Support: NSF grant IIS-0093581 and UIC Campus Research Board
Localizing Vapor-Emitting Sources Using a Distributed Mobile Sensing Network
Investigators: Panos Tzanos and Miloš Žefran
Research project deals with localizing vapor-emitting sources using distributed mobile
sensing networks. This entails developing a physical model of the vapor concentration, a motion
control algorithm for the sensors, and a coordination algorithm to coordinate the motions of the
sensors (see details).
Support: NSF grant CCR-0330342
Distributed Switching Algorithms for Robotic Networks
Investigators: Carlos Caicedo Núñez and Miloš
Žefran
The focus of this research project lies in robotic networks. In
particular, we are interested in studying how can we solve global
problems in a network when the robots only have access to local pieces
of information. By sharing information with its neighbors, each robot
can learn more about the environment, and can adjust its behavior as
the information it is gathering gets more complete. Now, when there
is more than one task that has to be addressed by the network, the
local information must suffice for each agent to take the best
possible decision, so it would not compromise in the long-term either
of the objectives of the system.
For more details click here.
Support: NSF grants IIS-0093581 and CCR-0330342
Improving the Realism of Haptic Interaction for Teaching of Sensorimotor Skills
Investigators: Maxim Kolesnikov and Miloš Žefran
Recently, haptic simulators have shown great potential in teaching
sensorimotor skills. This is especially true for areas where the
traditional training technique is expensive, such as medical and
dental training. The goal of this work is to address several key
areas where improvement is needed to increase the realism of haptic
interaction for teaching of sensorimotor skills. These key areas are
haptic rendering algorithms, haptically augmented training video aids
and collaborative haptic environments. See details.
Support: NSF grant CMS-0600658 and UIC College of Dentistry
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