Collaborative task completed by two small humanoid robots in a cluttered environment using real time stabilisation and 3D motion planning

In general, humanoid robots are more apt than other mobile robots to move in environments made for humans, their models. As such, they are better suited to be used in emergency situations caused by natural disasters happening in urban environments.
Developing collaborative systems would reduce the cost of robotic solutions, as less expensive robots could be used without reducing the overall performance.
The project aims to develop control algorithms allowing two humanoid robots to move objects in a cluttered environment. A previous project showed that it is possible for two humanoid robots using 2D motion planning to travel in a cluttered environment. Another previous project showed it is possible to move objects in a stable way by using a controller based on simplified physics models. The goal is to continue these projects and develop a real time stabilizer to improve the individual stability of the robots. It is also desired to improve the motion planning by achieving it in three dimensions instead of two. These improvements should allow motion otherwise impossible when planned in two dimensions, as done previously, as well as improve the overall performance of the system.

Faculty Supervisor:

Wael Suleiman

Student:

Partner:

University of Tsukuba

Discipline:

Engineering

Sector:

Education

University:

Université de Sherbrooke

Program: