Browsing by Author "Singh Surya"

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Browsing by Author "Singh Surya"

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  • Attitude Estimation for Dynamic Legged Locomotion Using Range and Inertial Sensors 
    Singh Surya; Waldron Kenneth (IEEE, 2005)
    Legged robots offer exceptional mobility in uncharted terrains. Their dynamic nature yields unrivaled mobility, but serves to destabilize the motion estimation process that underlies legged operations. In particular, the ...
  • Design and Evaluation of an Integrated Planar Localization Method for Desktop Robotics 
    Singh Surya; Waldron Kenneth (IEEE, 2004)
    Localization and measurement of displacement are critical aspects to the operation and control of mobile robots. The motion of desktop robots, a class of mobile robots designed for use on a table, can be considered a special ...
  • GL-Link: A Novel Telerobotics-based Platform Supporting Distributed Mechatronic Research via the Internet 
    Singh Surya; Waldron Kenneth (ASME, 2003)
    Mechatronics and robotics research efforts of large complexity are increasingly interdisciplinary involving collaboration between software, hardware, controls, and scientific teams. Traditionally, the level of integration ...
  • Learning Navigational Maps by Observing Human Motion Patterns 
    O'Callaghan Simon; Singh Surya; Alempijevic Alen; Ramos Fabio (IEEE, 2011)
    Abstract¿Observing human motion patterns is informative for social robots that share the environment with people. This paper presents a methodology to allow a robot to navigate in a complex environment by observing pedestrian ...
  • Optical Flow Aided Motion Estimation for Legged Locomotion 
    Singh Surya; Csonka Paul; Waldron Kenneth (IEEE, 2006)
    Dynamic legged locomotion entails navigating terrain at high speed. The impact shocks from rapid footfalls, pivotal for such mobility, introduce large impulses that saturate motion measurement. A biomimetic approach is ...
  • RobotAssist - a Platform for Human Robot Interaction Research 
    Kirchner Nathan; Alempijevic Alen; Caraian Sonja; Fitch Robert; Hordern Daniel; Hu Gibson; Paul Gavin; Richards David; Singh Surya; Webb Stephen (Australasian Conference on Robotics and Automation, 2010)
    This paper presents RobotAssist, a robotic platform designed for use in human robot interaction research and for entry into Robocup@Home competition. The core autonomy of the system is implemented as a component based ...
  • System Design of a Quadrupedal Galloping Machine 
    Orin David; Palmer Luther; Nichol Jamie; Singh Surya; Waldron Kenneth (Sage Publications Ltd., 2004)
    In this paper we present the system design of a machine that we have constructed to study a quadrupedal gallop gait. The gallop gait is the preferred high-speed gait of most cursorial quadrupeds. To gallop, an animal must ...
  • Towards High-Fidelity On-Board Attitude Estimation for Legged Locomotion via a Hybrid Range and Inertial Approach 
    Singh Surya; Waldron Kenneth (Springer, 2006)
    Legged robots display a characteristically periodic motion. Measuring and tracking this motion has traditionally been performed using general inertial measurement techniques. While widely applied in robotics, this approach ...