Polish (Poland) English (United Kingdom)
Home Działalność badawcza Zespoły badawcze Mobile and Walking Robots Team

Mobile and Walking Robots Team

The group was established in 2007 at the Institute of Control and Information Engineering (ICIE) and is associated with the Mobile Robots Laboratory of ICIE.  at Poznan University of Technology.  It conducts research on mobile robots and is mainly focused on legged locomotion.

messor

Current main fields of interest are:

  • Autonomous mobile robot navigation, perception, SLAM 
  • Legged locomotion (rough terrain walking, obstacle negotiation, learning & optimization) 
  • Machine learning and computational intelligence in robotics
  • Sensors and multi-sensor integration

Group Members

  • Academic staff:
    • Piotr Skrzypczynski, PhD, DSc. (Associate Professor, head of the Mobile Robots Lab)
    • Krzysztof Walas, PhD (Assistant Professor)
    • Dominik Belter, PhD (Assistant Professor)
  • Students:
    • Przemysław Labecki (PhD student)
    •  Michal Nowicki (MSc student)
    •  Marta Rostkowska (PhD student)
    •  Marcin Skrobczynski (PhD student)
    •  Michal Topolski (PhD student)
    •  Mikolaj Wasielica  (PhD student)
    •  Marek Wasik (PhD student)

Projects and applications

  • NCN 45-2080 2011/01/N/ST7/02080 for the years 2012-2013: A new method for planning the motion of a legged robot over rough terrain and its experimental verification
  • Ministry of Science and Higher Education Grant No. N514 294635 for the years 2008-2010: An autonoous walking robot for search and patrol missions in outdoor and challenging indoor environments.
  • Ministry of Science and Higher Education "Diamentowy Grant"" for the years 2013-1015: New methods for personal navigation using the resources of smartphone or tablet class mobile devices.

Awards and schoolarships

  • Polish Artificial Intelligence Society Award for the Best Ph.D. Dissertation in Artificial Intelligence in 2012 for Dominik Belter
  • Dominik Belter received Conference Grant (edition III/2011) for participation in international conference in Milan (Societas scientiarum Varsaviensis)
  • Krzysztof Walas received Conference Grant (edition II/2010) for participation in international conference (Foundation for Polish Science)
  • CLAWAR 2013, Sydney, Industrial Robot Innovation Award - Highly Commended paper "Efficiently Using RGB-D Data to Self-Localize a Small Walking Robot in Man-Made Environments "
  • CLAWAR 2012, Baltimore, Industrial Robot Innovation Award - Highly Commended paper "Precise self-localization of a walking robot on rough terrain using PTAM"
  • CLAWAR 2011, Paris, Industrial Robot Innovation Award - Highly Commended paper "Laser scan matching for self-localization of a walking robot in man-made environments"
  • Dominik Belter received Conference Grant from IEEE Robotics and Automation Society for participation in international conference on Robotics and Automation (ICRA 2010)
  • Krzysztof Walas was  a scholarship holder within the project “Scholarship support for PH.D. students specializing in majors strategic for Wielkopolska’s development”, Sub-measure 8.2.2 Human Capital Operational Programme, co-financed by European Union under the European Social Fund in years 2008/2009.
  • Dominik Belter was  a scholarship holder within the project “Scholarship support for PH.D. students specializing in majors strategic for Wielkopolska’s development”, Sub-measure 8.2.2 Human Capital Operational Programme, co-financed by European Union under the European Social Fund in years 2008/2009, 2009/2010 and 2010/2011.

 

Publications

 

[1] D. Belter, A. Kasiński, P. Skrzypczyński, Evolving Feasible Gaits for a Hexapod Robot by Reducing the Space of Possible Solutions, Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Nice, 2008, s. 2673–2678.

[2] D. Belter, K. Walas, A. Kasinski, Distributed control system of DC servomotors for six legged walking robot, EPE PEMC - 13th International Power Electronics and Motion Control Conference, Poznan, Poland, September 1-3 2008, 1044 - 1049

[3] D. Belter, P. Skrzypczyński, Population Based Methods for Identification and Optimization of a Walking Robot Model, in: Robot Motion and Control 2009 (K. Kozłowski, ed.), LNCIS Vol. 396, Berlin, Springer-Verlag 2009, s. 185–195.

[4] D. Belter, P. Skrzypczyński, Efficient Gait Learning in Simulation: Crossing the Reality Gap by Evolutionary Model Identification, in: Mobile Robotics: Solutions and Challenges (O. Tosun et al., eds.), Singapore, World Scientific 2009, s. 861–868.

[5] D. Belter, Adaptive Foothold Selection for a Hexapod Robot Walking on Rough Terrain, 7th Workshop on Advanced Control and Diagnosis, Zielona Góra, 2009, CD-ROM.

[6] D. Belter, P. Skrzypczyński, A Biologically Inspired Approach to Learn Feasible Gaits for a Hexapod Robot, Int. Journal of Applied Mathematics and Computer Science, 20(1), 2010, s. 69–84.

[7] D. Belter, P. Łabęcki, P. Skrzypczyński, Map-based Adaptive Foothold Planning for Unstructured Terrain Walking, Proc. IEEE Int. Conf. on Robotics and Automation, Anchorage, 2010, s. 5256–5261.

[8] D. Belter, P. Skrzypczyński, Rough Terrain Mapping and Classification for Foothold Selection in a Walking Robot, 8th IEEE Workshop on Security, Search, and Rescue Robots, Bremen, 2010, CD-ROM.

[9] D. Belter, K. Walas, Messor – Versatile Walking Robot for Search and Rescue Missions, Journal of Automation, Mobile Robotics and Intelligent Systems,

[10] P. Łabęcki, A. Łopatowski, P. Skrzypczyński, Terrain Perception for a Walking Robot with a Low-Cost Structured Light Sensor, Proc. European Conf. on Mobile Robots, Dubrovnik, 2009, s. 199–204.

[11] P. Łabęki, D. Rosiński, P. Skrzypczyński, Terrain Perception and Mapping in a Walking Robot with Compact 2D Laser Scanner, in: Emerging Trends in Mobile Robotics (H. Fujimoto et al., eds.), Singapore, World Scientific 2010, s. 981–988.

[12] P. Łabęcki, K. Walas, Multisensor Perception for Autonomous Stair Climbing with a Six-Legged Robot, in: Emerging Trends in Mobile Robotics (H. Fujimoto et al., eds.), Singapore, World Scientific 2010, s. 1013–1020.

[13] F. Ponulak, D. Belter, and A. Kasinski, Adaptive Central Pattern Generator based on Spiking Neural Networks, Dynamical principles for neuroscience and intelligent biomimetic devices, EPFL LATSIS Symp., pp. 121–122, 2006.

[14] K. Walas, D. Belter, A. Kasinski, Control and Environment Sensing System For a Six-Legged Robot, Journal of Automation, Mobile Robotics & Intelligent Systems, vol. 2 (3), pp. 26-31, 2008

[15] K. Walas, Static Equilibrium Condition for a Multi-leg, Stairs Climbing Walking Robot, in: Robot Motion and Control 2009 (K. Kozłowski, ed.), LNCIS Vol. 396, Berlin, Springer-Verlag 2009, s. 197–206.

[16] K. Walas, Fully Parametrized Stair Climbing Strategy for a Six-Legged Waling Robot, in: Emerging Trends in Mobile Robotics (H. Fujimoto et al., eds.), Singapore, World Scientific 2010, s. 777–784.

[17] P. Skrzypczyński, Simultaneous Localization and Mapping: A Feature-based Probabilistic Approach, Int. Journal of Applied Mathematics and Computer Science, Vol. 19, No. 4, 2009, pp. 575-588.

[18] P. Skrzypczyński, Laser Scan Matching for Self-Localization of a Walking Robot in Man-Made Environments, Industrial Robot: An International Journal, Vol. 39, Iss. 3, 2012, pp. 242-250

[19] M. Nowicki, P. Skrzypczy/nski, Experimental Verification of a Walking Robot Self-Localization System with the Kinect Sensor, Journal of Automation, Mobile Robotics and Intelligent Systems, Vol. 7, No. 4, 2013, pp. 42-51

[20] P. Skrzypczyński, Augmenting Mobile Robot Geometric Map with Photometric Information, in: Computer Recognition Systems 3 (M. Kurzy/nski, M. Wozniak, eds.), Berlin, Springer 2009, s. 3-10

[21] P. Skrzypczyński, A Software Architecture for Efficient Teleoperation of a Semi-Autonomous Walking Robot,
in: Field Robotics (P. Bidaud et al., eds.), Singapore, World Scientific 2011, pp. 347-354

[22] P. Skrzypczyński, Efficiently Using RGB-D Data to Self-Localize a Small Walking Robot in Man-Made Environments,
in: Nature Inspired Mobile Robotics (J. Waldron et al., eds.), Singapore, World Scientific 2013, pp. 789-796

[23] P. Skrzypczyński, How to Recognize and Remove Qualitative Errors in Time-of-Flight Laser Range Measurements, Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Nice, 2008, pp. 2958-2963

[24] M. Wasielica, M. Wąsik, P. Skrzypczyński, Interactive Programming of a Mechatronic System: A Small Humanoid Robot Example,  Proc. IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, Wollongong, 2013, pp. 459-464

 

Logowanie pracowników



Administracja

Strona jest własnością Politechniki Poznańskiej. W razie pytań, proszę o kontakt z:


Łukasz Matuszczak


pp-put logo_pelne

Happy Valentines Day 2017 Wishes Happy Valentines Day Images