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Golem Krang

What would humans be like if nature invented the wheel?

Golem Krang is a new humanoid robot designed and built by the Humanoid Robotics Lab at Georgia Tech in collaboration with Schunk Inc. The robot dynamically transforms from a .5 meter static to a 1.5 meter dynamic configuration. Our robot development has led to two advances in the design of platforms for mobility and manipulation: (1) A robot base that autonomously stands from horizontal rest and dynamic limbo! (2) A humanoid torso that adds a waist roll joint to replicate human torso folding a yaw joint for spine rotation and anthropomorphic arms. The mobile torso also achieves autonomous standing in a constrained space while lifting its 50kg arms - over 100 pounds!

The paper below describes our development including number of design factors such as Krang's suitability for human environments, mechanical simplicity and the ability to store potential and kinetic energy for handling heavy human and even super-human tasks. Most recently, the robot has gained knowledge of its own kinematics, dynamics and can fully move its arm and torso while maintaining balance and performing dynamic feats in physical human interaction and environment manipulation.

Publications

Conference

  • 2010
  • Pushkar Kolhe, Neil T. Dantam, and Mike Stilman Dynamic Pushing Strategies for Dynamically Stable Mobile Manipulators IEEE International Conference on Robotics and Automation. 2010.

    :PROPERTIES: :type: inproceedings :title: Dynamic Pushing Strategies for Dynamically Stable Mobile Manipulators :author: PUSHKAR and NTD and MIKE :booktitle: IEEE International Conference on Robotics and Automation :acronym: ICRA :month: May :year: 2010 :acceptance: 41 :url: papers/KolheICRA10-dynamic-pushing.pdf :project: Golem Krang, Whole Body Manipulation :keyword: Humanoid Robotics, Manipulation Planning, Whole Body Motion :pages: 3745--3750 :END:

    @inproceedings{kolhe2010dynamic,
      title = {Dynamic Pushing Strategies for Dynamically Stable Mobile Manipulators},
      pages = {3745--3750},
      month = {May},
      booktitle = {IEEE International Conference on Robotics and Automation},
      author = {Pushkar Kolhe and Neil T. Dantam and Mike Stilman},
      year = {2010}
    }
    
  • Mike Stilman, Jon Olson, and William Gloss Golem Krang: Dynamically Stable Humanoid Robot for Mobile Manipulation IEEE International Conference on Robotics and Automation. 2010.

    :PROPERTIES: :type: inproceedings :title: Golem Krang: Dynamically Stable Humanoid Robot for Mobile Manipulation :author: MIKE and Olson, Jon and Gloss, William :booktitle: IEEE International Conference on Robotics and Automation :acronym: ICRA :month: May :year: 2010 :pages: 3304--3309 :acceptance: 41 :url: papers/StilmanICRA10-golemkrang.pdf :project: Golem Krang, Whole Body Motion :keyword: Dynamic Locomotion, Humanoid Robotics, Whole Body Motion :END:

    @inproceedings{stilman2010golem,
      title = {Golem Krang: Dynamically Stable Humanoid Robot for Mobile Manipulation},
      pages = {3304--3309},
      month = {May},
      booktitle = {IEEE International Conference on Robotics and Automation},
      author = {Mike Stilman and Olson, Jon and Gloss, William},
      year = {2010}
    }
    
  • Kasemsit Teeyapan, Jiuguang Wang, Tobias Kunz, and Mike Stilman Robot Limbo: Optimized Planning and Control for Dynamically Stable Robots Under Vertical Obstacles IEEE International Conference on Robotics and Automation. 2010.

    :PROPERTIES: :type: inproceedings :title: Robot Limbo: Optimized Planning and Control for Dynamically Stable Robots Under Vertical Obstacles :author: Teeyapan, Kasemsit and JW and TOBIAS and MIKE :booktitle: IEEE International Conference on Robotics and Automation :acronym: ICRA :month: May :year: 2010 :acceptance: 41 :url: papers/TeeyapanICRA10-limbo.pdf :project: Golem Krang, Whole Body Motion :keyword: Dynamic Locomotion, Humanoid Robotics, Whole Body Motion, Trajectory Generation :pages: 4519--4524 :END:

    @inproceedings{teeyapan2010limbo,
      title = {Robot Limbo: Optimized Planning and Control for Dynamically Stable Robots Under Vertical Obstacles},
      pages = {4519--4524},
      month = {May},
      booktitle = {IEEE International Conference on Robotics and Automation},
      author = {Teeyapan, Kasemsit and Jiuguang Wang and Tobias Kunz and Mike Stilman},
      year = {2010}
    }
    
  • 2009
  • Mike Stilman, Jiuguang Wang, Kasemsit Teeyapan, and Ray Marceau Optimized Control Strategies for Wheeled Humanoids and Mobile Manipulators IEEE/RAS International Conference on Humanoid Robotics. 2009. Best Paper Finalist

    :PROPERTIES: :type: inproceedings :title: Optimized Control Strategies for Wheeled Humanoids and Mobile Manipulators :author: MIKE and JW and Teeyapan, Kasemsit and Marceau, Ray :booktitle: IEEE/RAS International Conference on Humanoid Robotics :acronym: Humanoids :month: December :year: 2009 :pages: 568--573 :acceptance: 59 :url: papers/StilmanHumanoids09-optimized-strategies.pdf :award: Best Paper Finalist :project: Golem Krang, Whole Body Motion :keyword: Dynamic Locomotion, Humanoid Robotics, Whole Body Motion, Trajectory Generation :END:

    @inproceedings{stilman2009optimized,
      title = {Optimized Control Strategies for Wheeled Humanoids and Mobile Manipulators},
      pages = {568--573},
      month = {December},
      booktitle = {IEEE/RAS International Conference on Humanoid Robotics},
      author = {Mike Stilman and Jiuguang Wang and Teeyapan, Kasemsit and Marceau, Ray},
      year = {2009}
    }
    

Technical Reports

  • Neil T. Dantam, Pushkar Kolhe, and Mike Stilman Equations of Motion for Dynamically Stable Mobile Manipulators no. GT-GOLEM-2010-002. Georgia Institute of Technology, Atlanta, GA. 2010.

    :PROPERTIES: :type: techreport :title: Equations of Motion for Dynamically Stable Mobile Manipulators :author: NTD and PUSHKAR and MIKE :number: GT-GOLEM-2010-002 :institution: Georgia Institute of Technology, Atlanta, GA :year: 2010 :url: papers/Dantam10a-dynamic-equations.pdf :project: Golem Krang, Whole Body Manipulation :keyword: Humanoid Robotics, Whole Body Motion :END:

    @techreport{dantam2010equations,
      title = {Equations of Motion for Dynamically Stable Mobile Manipulators},
      number = {GT-GOLEM-2010-002},
      institution = {Georgia Institute of Technology, Atlanta, GA},
      author = {Neil T. Dantam and Pushkar Kolhe and Mike Stilman},
      year = {2010}
    }
    

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