Name: Petar Kormushev
Member since: 2010-09-25 15:46:41
Last Login: 2013-06-21 10:25:11
Petar Kormushev is a senior postdoctoral researcher at the
Advanced Robotics department of the Italian Institute of
Technology, doing research on the iCub humanoid robot and a
Barrett WAM robot.
In 2009 he graduated with a PhD degree in Computational
Intelligence from Tokyo Institute of Technology. His
research interests include robotics and machine learning,
especially reinforcement learning for intelligent robot
He holds a MSc degree in Artificial Intelligence, a MSc
degree in Bio- and Medical Informatics, and a BSc degree in
Computer Science from Sofia University. He has participated
in many scientific projects, including European INFRAWEBS
project for designing the future Semantic Web, and Japanese
NEDO project for developing a common basis for next-
He has won a number of prestigious awards, including a
“John Atanasoff” award, a “St. Kliment Ohridski” award, and
a 4-year Monbukagakusho/MEXT Japanese research fellowship.
Recent blog entries by Petar.Kormushev
Online Regeneration of Bipedal Walking Gait Optimizing Footstep Placement and Timing
The video presents experiments during which a humanoid robot is subjected to external pushes and recovers stability by changing the step placement and duration.
It starts from showing effectiveness of the feedback controller during stepping in place. Then it continues to present how the developed algorithm regenerates the step placement and duration to regain stability after lateral pushes. It concludes with showing how the algorithm works during forward locomotion.
Przemyslaw Kryczka, Petar Kormushev, Nikos Tsagarakis, Darwin G. Caldwell, “Online Regeneration of Bipedal Walking Gait Optimizing Footstep Placement and Timing”, In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, 2015.
Publication PDF: http://kormushev.com/papers/Kryczka_IROS-2015.pdf
Kinematic-free Position Control of a 2-DOF Planar Robot Arm
The video demonstrates a novel concept for kinematic-free control of a robot arm. It implements an encoderless robot controller that does not rely on any joint angle information or estimation and does not require any prior knowledge about the robot kinematics or dynamics.
The approach works by generating actuation primitives and perceiving their effect on the robot’s end-effector using an external camera, thereby building a local kinodynamic model of the robot.
The experiments with this proof-of-concept controller show that it can successfully control the position of the robot. More importantly, it can adapt even to drastic changes in the robot kinematics, such as 100% elongation of a link, 35-degree angular offset of a joint, and even a complete overhaul of the kinematics involving the addition of new joints and links.
The proposed control approach looks promising and has many potential applications not only for the control of existing robots, but also for new robot designs.
Petar Kormushev, Yiannis Demiris, Darwin G. Caldwell, “Kinematic-free Position Control of a 2-DOF Planar Robot Arm”, In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, 2015.
Publication PDF: http://kormushev.com/papers/Kormushev_IROS-2015.pdf
Moving to Imperial College London!
I am glad to announce that I will be moving to Imperial College London starting from September 2015!
My new position will be Lecturer in Robotics and Computing at the Dyson School of Design Engineering.
Also, I will remain affiliated with the Robot Learning and Interaction Lab at the Italian Institute of Technology (IIT) that I was leading until now.
DARPA Robotics Challenge Finals
At the DARPA Robotics Challenge in Los Angeles, preparing for the finals (in 2 days)!
Our robot is called WALK-MAN, and is representing Italy:
Robot WALK-MAN ready for DARPA Robotics Challenge 2015
This is our new robot WALK-MAN, getting ready for the DARPA Robotics Challenge 2015
The robot was designed and built at the Italian Institute of Technology (IIT).
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- Petar.Kormushev certified bvdborgh as Master
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