Martin Mason | Mt. San Antonio College (original) (raw)
Address: Walnut, CA, United States
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This paper describes a compact gait generator that runs on the on-board Atmega microcontroller of... more This paper describes a compact gait generator that runs on the on-board Atmega microcontroller of the Robotis Bioloid robot. An overview of the parameters that effect dynamic gait is included along with a discussion of how these parameters are implemented in a servo skeleton. The paper reports on the optimisation of the gait parameters using a variant of natural actor-critic method and demonstrates that this learning technique is applicable in a real context. The quality of a parameter set is evaluated based on minimising the time for the robot to travel one meter. The learned gait parameters result in a faster robot than the hand optimised parameters when the learning algorithm has a reasonable initialisation.
Proceedings of the 6th international conference on Human-robot interaction - HRI '11, 2011
We have developed a robotic system that interacts with the user, and through repeated interaction... more We have developed a robotic system that interacts with the user, and through repeated interactions, adapts to the user so that the system becomes semi-autonomous and acts proactively. In this work we show how to design a system to meet a user's preferences, show how robot pro-activity can be learned and provide an integrated system using verbal instructions. All these behaviors are implemented in a real platform that achieves all these behaviors and is evaluated in terms of user acceptability and efficiency of interaction.
This paper describes a compact gait generator that runs on the on-board ATmega128 microcontroller... more This paper describes a compact gait generator that runs on the on-board ATmega128 microcontroller of the Robotis Bioloid robot platform. An overview of the parameters that effect dynamic gait is included along with a discussion of how these are implemented in a servo skeleton. The gait parameters are stride height, hip swing amplitude and step period. The paper reports on
This paper describes a compact gait generator that runs on the on-board ATmega128 microcontroller... more This paper describes a compact gait generator that runs on the on-board ATmega128 microcontroller of the Robotis Bioloid robot platform. An overview of the parameters that effect dynamic gait is included along with a discussion of how these are implemented in a servo skeleton. The gait parameters are stride height, hip swing amplitude and step period. The paper reports on the optimization of these parameters through a systematic exploration of the parameter space. The quality of the parameters is evaluated in terms of lateral head movement and foot clearance. This research was facilitated by the use of an online wireless programming interface that enables rapid testing of all the gait parameters. The gait quality was observed to be optimal at shorter step periods and larger stride heights.
This paper describes a compact gait generator that runs on the on-board Atmega microcontroller of... more This paper describes a compact gait generator that runs on the on-board Atmega microcontroller of the Robotis Bioloid robot. An overview of the parameters that effect dynamic gait is included along with a discussion of how these parameters are implemented in a servo skeleton. The paper reports on the optimisation of the gait parameters using a variant of natural actor-critic method and demonstrates that this learning technique is applicable in a real context. The quality of a parameter set is evaluated based on minimising the time for the robot to travel one meter. The learned gait parameters result in a faster robot than the hand optimised parameters when the learning algorithm has a reasonable initialisation.
Proceedings of the 6th international conference on Human-robot interaction - HRI '11, 2011
We have developed a robotic system that interacts with the user, and through repeated interaction... more We have developed a robotic system that interacts with the user, and through repeated interactions, adapts to the user so that the system becomes semi-autonomous and acts proactively. In this work we show how to design a system to meet a user's preferences, show how robot pro-activity can be learned and provide an integrated system using verbal instructions. All these behaviors are implemented in a real platform that achieves all these behaviors and is evaluated in terms of user acceptability and efficiency of interaction.
This paper describes a compact gait generator that runs on the on-board ATmega128 microcontroller... more This paper describes a compact gait generator that runs on the on-board ATmega128 microcontroller of the Robotis Bioloid robot platform. An overview of the parameters that effect dynamic gait is included along with a discussion of how these are implemented in a servo skeleton. The gait parameters are stride height, hip swing amplitude and step period. The paper reports on
This paper describes a compact gait generator that runs on the on-board ATmega128 microcontroller... more This paper describes a compact gait generator that runs on the on-board ATmega128 microcontroller of the Robotis Bioloid robot platform. An overview of the parameters that effect dynamic gait is included along with a discussion of how these are implemented in a servo skeleton. The gait parameters are stride height, hip swing amplitude and step period. The paper reports on the optimization of these parameters through a systematic exploration of the parameter space. The quality of the parameters is evaluated in terms of lateral head movement and foot clearance. This research was facilitated by the use of an online wireless programming interface that enables rapid testing of all the gait parameters. The gait quality was observed to be optimal at shorter step periods and larger stride heights.