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2017


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Spinal joint compliance and actuation in a simulated bounding quadruped robot

Pouya, S., Khodabakhsh, M., Sproewitz, A., Ijspeert, A.

{Autonomous Robots}, pages: 437–452, Kluwer Academic Publishers, Springer, Dordrecht, New York, NY, Febuary 2017 (article)

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2017


link (url) DOI Project Page [BibTex]


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Computer Vision for Autonomous Vehicles: Problems, Datasets and State-of-the-Art

Janai, J., Güney, F., Behl, A., Geiger, A.

Arxiv, 2017 (article)

Abstract
Recent years have witnessed amazing progress in AI related fields such as computer vision, machine learning and autonomous vehicles. As with any rapidly growing field, however, it becomes increasingly difficult to stay up-to-date or enter the field as a beginner. While several topic specific survey papers have been written, to date no general survey on problems, datasets and methods in computer vision for autonomous vehicles exists. This paper attempts to narrow this gap by providing a state-of-the-art survey on this topic. Our survey includes both the historically most relevant literature as well as the current state-of-the-art on several specific topics, including recognition, reconstruction, motion estimation, tracking, scene understanding and end-to-end learning. Towards this goal, we first provide a taxonomy to classify each approach and then analyze the performance of the state-of-the-art on several challenging benchmarking datasets including KITTI, ISPRS, MOT and Cityscapes. Besides, we discuss open problems and current research challenges. To ease accessibility and accommodate missing references, we will also provide an interactive platform which allows to navigate topics and methods, and provides additional information and project links for each paper.

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2015


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Exciting Engineered Passive Dynamics in a Bipedal Robot

Renjewski, D., Spröwitz, A., Peekema, A., Jones, M., Hurst, J.

{IEEE Transactions on Robotics and Automation}, 31(5):1244-1251, IEEE, New York, NY, 2015 (article)

Abstract
A common approach in designing legged robots is to build fully actuated machines and control the machine dynamics entirely in soft- ware, carefully avoiding impacts and expending a lot of energy. However, these machines are outperformed by their human and animal counterparts. Animals achieve their impressive agility, efficiency, and robustness through a close integration of passive dynamics, implemented through mechanical components, and neural control. Robots can benefit from this same integrated approach, but a strong theoretical framework is required to design the passive dynamics of a machine and exploit them for control. For this framework, we use a bipedal spring–mass model, which has been shown to approximate the dynamics of human locomotion. This paper reports the first implementation of spring–mass walking on a bipedal robot. We present the use of template dynamics as a control objective exploiting the engineered passive spring–mass dynamics of the ATRIAS robot. The results highlight the benefits of combining passive dynamics with dynamics-based control and open up a library of spring–mass model-based control strategies for dynamic gait control of robots.

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link (url) DOI Project Page [BibTex]

2015


link (url) DOI Project Page [BibTex]