Provably Not-at-Fault Control of Autonomous Robots in Arbitrary Dynamic Environments

Roahm Lab members Shreyas Kousik, Hannah Larson, and Sean Vaskov’s work on Reachability-based Trajectory Design for provably not-at fault control of ground vehicles.

Soft Robot Modeling and Control Using Koopman Operator Theory

Roahm Lab member Dan Bruder’s work on applying infinite dimensional operator theory to model and control soft robots in real-time.

Dynamic Walking 2019 Video Abstract - "Walking Man"

Roahm Lab member Patrick Holmes ruminates on walking stability in this new video abstract (Also featured on IEEE Spectrum’s Video Friday).

Walking with Confidence: Safety Regulation for Full Order Biped Models

Roahm Lab member Nils Smit-Anseeuw describes his work on building control algorithms to operate walking robots confidently.

Dynamic Walking 2018 Video Abstract - "You're Stable"

Our group has devised a numerical technique to estimate the likelihood of falling

Bridging the Gap Between Safety and Real-Time Performance for Autonomous Systems

Our group has recently devised a technique to perform provably safe, real-time control of autonomous systems in the presence of state estimation and modeling error.

Studying the Jerboa to Advance Bipedal Robots

Our group has done work on applying optimization based techniques to model the gait of bipedal rodents to understand the evolution of their locomotion.

Cassie Maize Walking

The controller used to generate walking is described in the paper "Feedback Control of a Cassie Bipedal Robot: Walking, Standing and Riding a Segway."

The ROAHM (Robotics and Optimization for the Analysis of Human Motion) Lab seeks to understand and improve human and robot interaction with one another and with the environment. We devise techniques to diagnose unsafe behavior and construct controllers that can then safely intervene or aid in retraining. In particular, we focus on applying techniques from infinite dimensional optimization to the modeling, estimation and control of dynamical systems. Our work, some of which is described in the videos above, seeks to develop practical solutions to these problems while providing mathematical guarantees regarding performance.

You can learn more about previous and ongoing research projects here.