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Mobile and Walking Robots Team

messor

The group was established in 2007 in Institute of Control and Information Engineering  (ICIE) at Poznan University of Technology.  It conducts research in field of Mobile and Walking Robots.

The main fields of interest are:

Legged locomotion

Environment Sensing and Mobile Robot Positioning

Negotiation of urban obstacles (stairs, etc.)

Rough terrain walking

Machine Learning

    Group Members

    • Piotr Skrzypczyński, professor  (team leader)
    • Krzysztof Walas (Postdoc)
    • Dominik Belter(Postdoc)
    • Przemysław Łabęcki(PhD student)
    • Michał Nowicki (Msc student)
    • MScs Students

    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
    • Polish Ministry of Science and Higher Education Grant No. N514 294635 for the years 2008–2010

    Awards and schoolarships

    • Industrial Robot Innovation Award 2012 for article: D. Belter, P. Skrzypczyński, Precise self-localization of a walking robot on rough terrain using PTAM, Adaptive Mobile Robotics, World Scientific, A. Azad et al. (Eds.), Singapore, pp. 89-96, 2012

    • Krzysztof Walas received Conference Grant (edition II/2010) for participation in international conference (Foundation for Polish Science).
    • Dominik Belter received Conference Grant fom IEEE Robotics and Automation Society for participation in International Conference on Robotics and Automation (ICRA 2010) in Anchorage (Alaska)

    • 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 year 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 year 2008/2009 and 2009/2010.

    • Dominik Belter received Conference Grant fom Volkswagen Foundation for participation in symposium Recent Advances in Neuro-Robotics: Sensorimotor Control in Freibur (Germany)

    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] D. Belter, P. Skrzypczyński, Precise self-localization of a walking robot on rough terrain using parallel tracking and mapping, Industrial Robot: An International Journal, Vol. 40, No. 3, pp. 229–237, 2013

    [18] D. Belter, P. Łabęcki, P. Skrzypczyński, Estimating Terrain Elevation Maps from Sparse and Uncertain Multi-Sensor Data, IEEE 2012 International Conference on Robotics and Biomimetics, Guangzhou, China, pp. 715–722, 2012

    [19] D. Belter, P. Skrzypczyński, Posture Optimization Strategy for a Statically Stable Robot Traversing Rough Terrain, IEEE/RSJ 2012 International Conference on Intelligent Robots and Systems, Vilamoura, Portugal, pp. 2204-2209, 2012

     

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