Uniļ¬ed Algorithmic Framework for High Degree of Freedom Complex Systems and Humanoid Robots
By Daniel M. Lofaro
Video Demonstrations and Examples:
- Valve Turing Exanple using RRT and Hubo-Ach
- Humanoid Robot (Hubo) Throws First Pitch at Baseball Game
- Hubo Thring Underarm via MoCap Example
- Balancing
- Walking Using Hubo-Ach:
- Hubo ZMP walking using Hubo-Ach
- Hubo ZMP walking in place using Hubo-Ach
- Hubo and OpenHubo walking using Hubo-Ach in Real-Time and Sim-Time Respectively
- OpenHubo walking using Hubo-Ach in Sim-Time mode with ODE physics
- Hubo Walking in RobotSim using Hubo-Ach
- Hubo Dynamic Walking - Developed in 5 Days Using Hubo-Ach
- Hubo preforming 6-DOF IK in real-time
- Hubo Inverse Kinematics for Right Arm
- Hubo Inverse Kinematics for Both Right and Left Arms
- Solving IK and planning collision free motions for Hubo using MoveIt to ROS to Hubo-Ach
- Humanoid Robot Teleoperation: Hubo to Hubo
- Independent Hubo-Ach Validation
- Humanoid Robot Hubo performing active damping using FT feedback and Hubo-Ach Controller
- Visual Tracking