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I am currently working on dynamic simulation and behaviours for humanoid robots. In particular, I am working with the humanoid robot known as CB and building a simulator for it. My recent work has been on the contact force problem, i.e., computing suitable forces to support the feet of the simulated robot in contact with the ground, including Coulomb friction (stiction and dynamic friction).

(Currently the corresponding real robot "CB" also lacks a head!)

I recently developed some interesting matrix analysis techniques to aid in the extraction of non-singular submatrices of larger singular systems. This forms part of a coherency exploiting pseudoinverse based solution for suitable contact and friction forces. I also developed a method for handling contact and friction forces using a kinematic manipulation technique.

 

Last Update 10th March 2006
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