My primary research area is mobile robotics, with emphasis on legged locomotion. I am also working with Unmanned Aerial Vehicles (UAVs). Currently, my primary research subject is Humanoid Robotics.
The Humanoid project at the Automation and Robotics Laboratory (started in August 2008) focuses especially in gait generation and stabilization algorithms. To achieve this goal, we decided to use a Robotis Bioloid - a commercially available robot meant for education - and turn it into a full research platform, including a real time Linux control system, pressure sensors and an array of inertial sensors. A full description of what has been done can be found in the Publications page.
Right now we are working on the mathematical modeling of the robot, the system identification and validation procedure and the control algorithms for the robot. Robust estimation algorithms are also being developed.
The instrumentation of the Bioloid Robot has created some really interesting byproducts, including some work in embedded Linux systems, a custom Zero Moment Point (ZMP) sensor and a custom Inertial Navigation System, all which can be used in several other projects. Most of these contributions can be found in Technical Resources page, including a few Technical Notes introducing the reader to some of the hardware and software used.
In the UAVs, I am currently a part of Project ANU (Autonomously Navigated UAV), which attempts to turn a regular RC-plane into a fully-featured small UAV. I've worked extensively in the hardware, software and estimation algorithms for the aircraft.