Overview Video

Planning Planning with the Drake Inverse Kinematic planner (with MIT Locomotion Group).

On-going collision-free motion planning combining local (trajectory optimization) with global (RRT sampling) methods:

Task-level Autonomy Integration

We recently created a new 3D textured model of Valkyrie and its now being used by NASA:

Integrated motion planning and autonomy with IHMC’s SCS simulator:

Task-level simulation demonstrating motion planning with the Valkyrie Robot:

Integration of IHMC Control API with MITDRC/Edinburgh Autonomy Interface (using the Atlas robot model):

In collaboration with NASA-JSC Robotics, MIT DRC Team, and the IHMC Robotics Lab.