This site serves as a project space for UMass Amherst efforts in the context of the DARPA sponsored project, MARS out of IPTO , involving the roboticization of the Segway Human Transporter.

 
  ICRA04 Videos    
  Post by Chao  6-22-04  
The videos below demonstrate Segway RMP's dynamic obstacle avoidance using the cascaded filter approach.

Video
High Quality Windows Media Player 9 or Divx (27 MB) avi(wm9) avi(divx)

 

 

  Balancing uBot    
  Post by Patrick  4-26-04  
New videos of the balancing uBot have been posted online.



 

 

  Mobile Manipulation    
  Post by Patrick  4-26-04  
The videos below demonstrate a 3-phase approach to mobile manipulation.

Video
High Quality for Windows Media Player 9 (14 MB) or QuickTime (140 MB) avi mov
Low Quality for Windows Media Player 9 (3 MB) or QuickTime (16 MB) avi mov

 

 

  Video Update    
  Post by Chao  9-24-03  
The videos below demonstrate obstacle avoidance using the Global Dynamic Window approach (paper).
In the first video, the environment is static; the second video demonstrates obstacle avoidance in a populated, dynamic environment.

   

Video
Obstacle avoidance in a static environment avi mpg
Obstacle avoidance in a dynamic environment avi mpg
Dynamic Obstacle Avoidance avi mpg
Dynamic Obstacle Avoidance (more aggressive obstacles) avi mpg
Tracking avi mpg
Quality Function Only avi mpg
Nullspace Only avi mpg
Nullspace with tracking avi mpg

 

 

  Document Update  
  Post by Chao 8-18-03  

John Sweeney has posted some documentation on "Using the SICK LMS-200 at 500 Kbps".

 

 

  Video Update    
  Post by Chao  7-28-03  
All of the "runs" shown in this video were done under joystick control. The first few runs show us testing the limits of our PVC safety system. We were determining under what operating conditions the system would come in contact with level ground. It is important to note that the small plastic wheels on the safety system function as kill switches (see the safety system portion of this site), otherwise, when the safety system came into contact with the ground it would create a third point of contact and the RMP would run away. Also shown are a near fall due to a crack in the pavement, and the results of trying to maneuver the RMP over a thin board and a metal pipe. Lastly, the results of trying to run the RMP at high speeds on grassy terrain are shown.


   

Video
Segway Tumbles avi mpg

 

 

  Segway follow video    
  Post by Chao  7-11-03  
Below are videos of the Segway tracking people both on-road and off-road. We used a Mean-Shift tracker to command the Segway to follow a moving target.

  

Video list
Following a person in a parking lot avi mpg
Following a person in grass avi mpg  
Car chase avi mpg  
Two very different pets on leashes avi mpg
Controlling the RMP with a wearable computer avi mpg  
__________________________________________________ ________ ___  
Summary of the entire "Segway follow" experiment avi mpg  
       

 

 

  Safety mechanism    
  Post by Chao  7-10-03  

To prevent a hard fall of the Segway, which will cause significant damage to the on-board equipment, we have designed a safety system. You can find more about it here.

Video Footage:

Fall 1 avi mpg
Fall 2 avi mpg
Fall 3 avi mpg

 

 

  Software Update    
  Post by Chao 7-03-03  
We are using the Player/Stage system for controlling the Segway RMP. JohnSweeney developed the original Player driver for the platform; this driver has since been incorporated into the current Player distribution. More information on Player/Stage can be found here.
 

 

  
HotShot
  
 

 
 

 

 
The Team
  
   
 

 
HotShot
  
 
Click here for more images