Research
Here you can find information about my current and past research projects.
Design and Control of the Humanoid Robot ACHILLES:
Real-Time Gait Generation for Dynamic Locomotion
Real-Time Gait Generation for Dynamic Locomotion
Submitted to ICRA 2025 (under review) | Control and Dynamical Systems | Caltech | 2024
In this paper we developed a control framework to enable real-time gait generation and control for humanoid robots. The framework utilizes the Hybrid Linear Inverted Pendulum (HLIP) model together with a turning controller to rapidly generate long-horizon trajectories. An SRB model is then linearized around the trajectory and a MPC is used to calculate feed forward torques through ground reaction forces. We demonstrate the framework on the novel low-cost humanoid robot Achilles.
Authors: Adrian B. Ghansah, Jeeseop Kim, Aaron D. Ames
Paper (coming soon) | Videos
Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
Control and Dynamical Systems | Caltech | 2024
In this paper we demonstrated the world's first 3D walking on a point-foot humanoid robot. We achieved this by combining Hybrid Zero Dynamics (HZD) control together with Hybrid Linear Inverted Pendulum (HLIP) control. The HLIP model was incorporated into the HZD gait generation, and then the HZD gaits were stabilized online by using the HLIP controller as a footstep regulator.
Authors: Adrian B. Ghansah, Jeeseop Kim, Kejun Li, Aaron D. Ames
Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics
62nd IEEE Conference on Decision and Control | Control and Dynamical Systems | Caltech | 2023
In this paper, we proposed a method on how to do hardware design and control simultaneously. The proposed method is based on augmenting the original robot model during the HZD gait generation phase in such a way that we can also optimize over hardware parameters such as link lengths during the trajectory optimization. The proposed method was used to design and control the humanoid robot ADAM.
Authors: Adrian B. Ghansah, Jeeseop Kim, Maegan Tucker, Aaron D. Ames
Design and Control of a Torque Controllable Quadrupedal Robot - A study on the development of ASTRo
Master Thesis | Cybernetics and Robotics | NTNU | Spring 2021
In this project we developed a torque controllable sprawling quadrupedal robot. The project covered all the phases of developing a robot, such as mechanical design, electronics setup, driver development, software development, creation of a simulation environment in ROS, and the creation of various gait controllers, including a hierarchical whole body controller.
Authors: Adrian B. Ghansah, Paal Thorseth
Research Internship - Autonomous Navigation
Internship | Cybernetics and Mathematics | SINTEF Digital | Summer and Fall 2019-2020
My work revolved around making a rover robot capable of autonomously navigating between waypoints provided by an external server and sending state data and other updates back to the server. The work involved localization, navigation, and computer vision tasks in ROS were I had to make the robot capable of detecting, identifying, and localizing objects in the field and reporting it back to the main server. The work was part of the AFarCloud Project, which was an EU project on smart farming.
Authors: N/A
Development and Comparisons of Inertial Navigation Systems For Aircraft Systems
Specialization Project | Cybernetics and Robotics | NTNU | Fall 2020
In this project various navigation systems were investigated, implemented, and their performances compared. The famous Multiplicative Extended Kalman Filter was compared to a simpler navigation system where a attitude heading reference systems was used in cascade with an Extended Kalman Filter to provide full state estimation. The use of different sensors and disturbances were also investigated. The goal of the project was to create a foundation for an advanced navigation system to be used in Arduino based robotic systems.
Authors: Adrian B. Ghansah
Heat Development in Concrete
UROP | Civil and Environmental Engineering | NTNU | Spring/Summer 2017
In this project we investigated heat development in concret and how it can lead to damages during the construction process. The study was done to create an educational video for undergraduate in the Civil Engineering department taking the class Construction Materials.
Collaborators: Daniel Markali, Ragnhild Myrnes
