Kevin Green

Kevin Green
Oregon State University | OSU · School of Mechanical, Industrial and Manufacturing Engineering

Robotics PhD Candidate

About

26
Publications
2,136
Reads
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264
Citations
Education
September 2013 - May 2017
University of Michigan
Field of study
  • Mechanical Engineering

Publications

Publications (26)
Preprint
For legged robots to match the athletic capabilities of humans and animals, they must not only produce robust periodic walking and running, but also seamlessly switch between nominal locomotion gaits and more specialized transient maneuvers. Despite recent advancements in controls of bipedal robots, there has been little focus on producing highly d...
Preprint
In this work, we propose a method to generate reduced-order model reference trajectories for general classes of highly dynamic maneuvers for bipedal robots for use in sim-to-real reinforcement learning. Our approach is to utilize a single rigid-body model (SRBM) to optimize libraries of trajectories offline to be used as expert references in the re...
Preprint
Full-text available
Recent work on sim-to-real learning for bipedal locomotion has demonstrated new levels of robustness and agility over a variety of terrains. However, that work, and most prior bipedal locomotion work, have not considered locomotion under a variety of external loads that can significantly influence the overall system dynamics. In many applications,...
Preprint
The complex dynamics of agile robotic legged locomotion requires motion planning to intelligently adjust footstep locations. Often, bipedal footstep and motion planning use mathematically simple models such as the linear inverted pendulum, instead of dynamically-rich models that do not have closed-form solutions. We propose a real-time optimization...
Preprint
Recently, work on reinforcement learning (RL) for bipedal robots has successfully learned controllers for a variety of dynamic gaits with robust sim-to-real demonstrations. In order to maintain balance, the learned controllers have full freedom of where to place the feet, resulting in highly robust gaits. In the real world however, the environment...
Preprint
Full-text available
In this paper, we investigate whether applying ankle torques during mid-stance can be a more effective way to reduce energetic cost of locomotion than actuating leg length alone. Ankles are useful in human gaits for many reasons including static balancing. In this work, we specifically avoid the heel-strike and toe-off benefits to investigate wheth...
Preprint
Full-text available
This paper describes the design and control of a support and recovery system for use with planar legged robots. The system operates in three modes. First, it can be operated in a fully transparent mode where no forces are applied to the robot. In this mode, the system follows the robot closely to be able to quickly catch the robot if needed. Second...
Preprint
Full-text available
Accurate and precise terrain estimation is a difficult problem for robot locomotion in real-world environments. Thus, it is useful to have systems that do not depend on accurate estimation to the point of fragility. In this paper, we explore the limits of such an approach by investigating the problem of traversing stair-like terrain without any ext...
Article
In this paper, we describe an approach to achieve dynamic legged locomotion on physical robots which combines existing methods for control with reinforcement learning. Specifically, our goal is a control hierarchy in which highest-level behaviors are planned through reduced-order models, which describe the fundamental physics of legged locomotion,...
Preprint
Full-text available
Recent work has demonstrated the success of reinforcement learning (RL) for training bipedal locomotion policies for real robots. This prior work, however, has focused on learning joint-coordination controllers based on an objective of following joint trajectories produced by already available controllers. As such, it is difficult to train these ap...
Preprint
Full-text available
In this paper, we describe an approach to achieve dynamic legged locomotion on physical robots which combines existing methods for control with reinforcement learning. Specifically, our goal is a control hierarchy in which highest-level behaviors are planned through reduced-order models, which describe the fundamental physics of legged locomotion,...
Preprint
Full-text available
We propose a method to generate actuation plans for a reduced order, dynamic model of bipedal running. This method explicitly enforces robustness to ground uncertainty. The plan generated is not a fixed body trajectory that is aggressively stabilized: instead, the plan interacts with the passive dynamics of the reduced order model to create emergen...
Article
Introduction: Laryngotracheal reconstruction (LTR) with cartilage graft augmentation is an effective treatment for subglottic stenosis and a critical advanced procedure for Pediatric Otolaryngologists. Trainees almost exclusively learn this procedure intraoperatively on children due to the lack of adequate pediatric training models. An enhanced an...
Article
Full-text available
Surgical simulators have the potential to support safe, standardized, competency-based surgical education. For training in cleft lip repair, adult cadaveric simulators lack accurate representation of this predominately pediatric procedure. Cleft lip repair educational devices are almost exclusively virtual reality based, using computer graphics wit...
Article
Background: Pediatric-specific difficult airway guidelines include algorithms for 3 scenarios: unanticipated difficult tracheal intubation, difficult mask ventilation, and cannot intubate/cannot ventilate. While rare, these instances may require front-of-neck access (FONA) to secure an airway until a definitive airway can be established. The aim o...
Patent
Full-text available
A method of washing dishes in an automated dishwasher utilizing a high velocity sprayer and high velocity spray phase for forcibly spraying water from concavities on washed dishes or utensils in which liquid can puddle in the cavities of the dishes or utensils during previous washing or rinsing cycles.
Conference Paper
This paper describes the design and control of a support and recovery system for use with planar legged robots. The system operates in three modes. First, it can be operated in a fully transparent mode where no forces are applied to the robot. In this mode, the system follows the robot closely to be able to quickly catch the robot if needed. Second...

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Projects

Project (1)
Project
Understand the dynamics of bipedal locomotion. Find ways to simulate this gait in order to improve current control systems for walking robots.