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Baxter robot operating a valve and a pair of pliers based on the ECTS representation

ECTS-based Biped Locomotion on Hubo in V-REP

ECTS-based Valve-Turning on Hubo in V-REP

ECTS-based Scissor Operation on Hubo

  • Coordinated Dual-Arm Motion Control on Baxter (ongoing work)
    Past Projects
  • DRC Hubo Dry Run Semi Finals Ladder
    (Purdue is participating in Ladder Climbing Event)

  • DRC Hubo Mock Trials Ladder Climbing
    (I was tele-operating the robot located in Philadelphia from Purdue)
  • DRC Hubo climbing ladder on a water tower (simulation) 
  • HuboII+ Backward Stair Climbing Strategy Testing on 11cm stepper.
    : This video shows a quick demonstration of our strategy of stair climbing control. 

  • Cooperative-Dual-Task-Space-based Whole-body Motion Balancing for Humanoid Robots 
    : This video shows the framework presented at ICRA 2013, in Karlsuhe, Germany. 

  • Upper-body Motion Transfer Demo on Hubo+ using Kinect
    : In this video, we show how we can transfer human upper-body motion using Kinect to Hubo+ robot.
  • Face and Skeleton Tracking Demo on Hubo+
    : In this video, we show our implementation of Face / Skeleton Tracking on Hubo+ robot.
  • Hubo+ Synchronization between Matlab and Real Robot
    : In this video, we are showing how we can synchronize the motion of Hubo+ with its kinematic model in Matlab
  • Upper-body Motion Retargeting and Lower-body Balancing for Humanoid Robots
    Once an upper-body motion is retargeted to a humanoid robot, the lower-body motion can be generated such that the CoM (Center Of Mass) is maintained at the same location. It is called Static Balance since the ZMP has not been taken into consideration so it is not considering the velocity and the acceleration. This can be the first step for the adjustment of the balance for the whole-body motion. Currently, the full-body model is being used so we can also look into using simplified inverted pendulum model for the balancing problem.
  • Upper-body Motion Retargeting for Humanoid Robots
    Using nonlinear constrained optimization algorithm, human motion captured data can be retargeted to any existing humanoid robot. Currently, only upper-body motion is concerned for the purpose of HRI. This upper-body motion will be combined with lower body motion planned by walking pattern planner and the whole body balance will be adjusted.
  • Andy's Bioloid arms operated with Kinect using ROS
    Here, in ARTLab(Assistive Robotics Technology Laboratory) at Purdue, we have made the robot arms tele-operated by the operator with the help of Microsoft Kinect sensor. We are using ROS (Robot Operating System) developed by Willow Garage and have used some of the packages that have been done by some other people, and then we made our own packages to make this working. Since we've just made it, we haven't given any efforts to make this stabilized and fine-tuned. That's why we used an inexpensive robot, Bioloid for this experiment. Once it is fine tuned, we can transfer operator's movement to Darwin-OP robot easily.
  • Andy's Arbitrary Object Tracking using Camshift in ROS
    :Here, in ARTLab (Assistive Robotics Technology Laboratory) at Purdue, we are using ROS (Robot Operating System) developed by Willow Garage, and any arbitrary object can be specified by user and tracked in real-time. Camshift algorithm implemented in OpenCV was used so an object can be specified with respect to its histogram. Next step is to follow the object with Pan/Tilt motor equipped camera. Stay tuned!
  • Andy's body coordinates synchronized with the skeleton's using ROS with Kinect sensor
    Here at ARTLab(Assistive Robotics Technology Laboratory), Purdue Univ. I tested out a recently released package done by my fellow: YoonSeok Pyo, named Hone_markers package in ROS. (http://passionvirus.blog.me/80131394356) This shows that coordinates on my body appear on the display through kinect sensor and they are synchronized. Hopefully we will be able to use these coordinates for the motion of the robot so that if I move, the robot will move together with me. This will simplify all the process for teaching motor skills to the robot. Alright. Let's see!
  • Andy's Darwin-OP Detects a big ball, Walking towards it, Grabbing it, and Throwing it away
    Here's an interesting demo of Darwin-OP robot by Andy at Purdue ARTLab (Assistive Robotics Technology Laboratory). By using an image processing the robot will detect the big ball and keep following it until it is within his reach. Once he gets the ball in his reach, he grabs it and throws it away and start following it again. I am thinking that this way we can make multiple robots play with a ball maybe something like volleyball and it will be a lot of fun! Stay tuned! A lot more interesting demos are comin up! :)

    Past Projects
  • PUMA-560 model in action in Webots simulation tool
    I built this PUMA 560 model for simulation purposes esp. in Webots at Purdue ARTLab (Assistive Robotics Technology Laboratory). It currently does not contain any inertial properties but I think it be used for fairly many different purposes in doing robotic research. So, you can feel free to use this model for testing out your algorithms but don't forget to give me some sort of citations for using it!

  • Darwin-HP tracking an object and grabbing it
    This was done by my colleague Stu and Me Andy at Purdue ARTLab (Assistive Robotics Technology Laboratory) back in the beginning of the 2011 Spring semester. We were trying to figure out how we could make a robot trackin something and combining it with a motion so that we made a visual feedback motion reacting system. This was the first step before we making the robot actually following a moving object and grabbing it and do something about it. It is just fun and cool so check this out!!

  • Hoap-2 walking on uneven terrains in Webots
    : simulation result included in a publication for Humanoids 2010
    ("Convolution-Sum-Based Generation of Walking Patterns for Uneven Terrains")

  • Darwin-HP walking pattern generation using sinusoidal functions

  • Bioloid walking pattern generation using sinusoidal functions

  • Hoap-2 walking pattern generation using sinusoidal functions in Webots 

  • Hoap-2 walking pattern with changing speed and step size in Webots

    Projects done in my undergraduate years
  • KR-1 BLAST building process from scratch (done in 2006 Summer)

  • Self UCC maker (done in November, 2008)

  •  Disaster Rescue Robot (done in March, 2006)
    MORE VIDEOS ARE AVAILABLE ON MY FORMER BLOG (http://robodreamer.blogspot.com/)