News

LEONARDO, the Bipedal Robot, Can Ride a Skateboard and Walk a Slackline

10-06-21

Researchers have built a bipedal robot that combines walking with flying to create a new type of locomotion, making it exceptionally nimble and capable of complex movements. "We drew inspiration from nature. Think about the way birds are able to flap and hop to navigate telephone lines," says Soon-Jo Chung, Bren Professor of Aerospace and Control and Dynamical Systems; Jet Propulsion Laboratory Research Scientist. "A complex yet intriguing behavior happens as birds move between walking and flying. We wanted to understand and learn from that." A paper titled "A bipedal walking robot that can fly, slackline, and skateboard" about the LEO robot was published online on October 6 and was featured on the October 2021 cover of Science Robotics. [Caltech story]

Tags: research highlights CMS Soon-Jo Chung Elena-Sorina Lupu Kyunam Kim Patrick Spieler Alireza Ramezani

New Algorithm Helps Autonomous Vehicles Find Themselves, Summer or Winter

06-24-21

Without GPS, autonomous systems get lost easily. Now a new algorithm developed at Caltech allows autonomous systems to recognize where they are simply by looking at the terrain around them—and for the first time, the technology works regardless of seasonal changes to that terrain. The general process, known as visual terrain-relative navigation (VTRN), was first developed in the 1960s. By comparing nearby terrain to high-resolution satellite images, autonomous systems can locate themselves. The problem is that, in order for it to work, the current generation of VTRN requires that the terrain it is looking at closely matches the images in its database. To overcome this challenge, Anthony Fragoso, Lecturer in Aerospace; Staff Scientist, Connor Lee, Graduate student in Aerospace, Austin McCoy, Undergraduate, and Soon-Jo Chung, Bren Professor of Aerospace and Control and Dynamical Systems and research scientist at JPL, turned to deep learning and artificial intelligence (AI) to remove seasonal content that hinders current VTRN systems. [Caltech story]

Tags: research highlights GALCIT MCE CMS Soon-Jo Chung Anthony Fragoso Connor Lee Austin McCoy

Honorable Mention Best Paper Award from IEEE Robotics & Automation Letters

05-24-21

Benjamin Rivière, ‪Wolfgang Hönig, Yisong Yue, Professor of Computing and Mathematical Sciences, and Soon-Jo Chung, Bren Professor of Aerospace and Control and Dynamical Systems; Jet Propulsion Laboratory Research Scientist, have received an honorable mention for the IEEE Robotics and Automation Letters Best Paper Award for their paper titled "GLAS: Global-to-Local Safe Autonomy Synthesis for Multi-Robot Motion Planning With End-to-End Learning."

Tags: honors GALCIT CMS Yisong Yue CNS Soon-Jo Chung Benjamin Rivière Wolfgang Hönig

Yashwanth Nakka Wins Best Graduate Student Paper Award

01-20-21

Graduate student Yashwanth Nakka, working with Soon-Jo Chung, Bren Professor of Aerospace; Jet Propulsion Laboratory Research Scientist, and colleagues have won the Best Graduate Student Paper award at the 2021 AIAA SciTech Forum in the area of Guidance, Navigation, and Control. The paper is entitled “Information-Based Guidance and Control Architecture for Multi-Spacecraft On-Orbit Inspection,” and the co-authors are Caltech postdoctoral scholar Wolfgang Hoenig and research engineer Alexei Harvard, as well as JPL colleagues Changrak Choi and Amir Rahmani. This work was supported by the JPL-CAST Swarm Autonomy project. 

Tags: GALCIT CMS Soon-Jo Chung postdocs Yashwanth Nakka Wolfgang Hoenig Alexei Harvard Changrak Choi Amir Rahmani

Machine Learning Helps Robot Swarms Coordinate

07-14-20

Soon-Jo Chung, Bren Professor of Aerospace, Yisong Yue, Professor of Computing and Mathematical Sciences, postdoctoral scholar Wolfgang Hönig, and graduate students Benjamin Rivière and Guanya Shi, have designed a new data-driven method to control the movement of multiple robots through cluttered, unmapped spaces, so they do not run into one another. "Our work shows some promising results to overcome the safety, robustness, and scalability issues of conventional black-box artificial intelligence (AI) approaches for swarm motion planning with GLAS and close-proximity control for multiple drones using Neural-Swarm," says Chung. [Caltech story]

Tags: research highlights GALCIT CMS Yisong Yue CNS Soon-Jo Chung postdocs Benjamin Rivière Guanya Shi Wolfgang Hönig

"Neural Lander" Uses AI to Land Drones Smoothly

05-23-19

Professors Chung, Anandkumar, and Yue have teamed up to develop a system that uses a deep neural network to help autonomous drones "learn" how to land more safely and quickly, while gobbling up less power. The system they have created, dubbed the "Neural Lander," is a learning-based controller that tracks the position and speed of the drone, and modifies its landing trajectory and rotor speed accordingly to achieve the smoothest possible landing. The new system could prove crucial to projects currently under development at CAST, including an autonomous medical transport that could land in difficult-to-reach locations (such as a gridlocked traffic). "The importance of being able to land swiftly and smoothly when transporting an injured individual cannot be overstated," says Professor Gharib who is the director of CAST; and one of the lead researchers of the air ambulance project. [Caltech story]

Tags: research highlights Morteza Gharib Yisong Yue Soon-Jo Chung Animashree Anandkumar

Professor Chung’s Bat Bot Featured in Museum of Arts and Crafts in Hamburg

10-21-17

The Bat Bot, a self-contained robotic bat with soft, articulated wings, created by Professor Soon-Jo Chung and his colleagues has been selected by the Museum of Arts and Crafts in Hamburg to be placed in a special exhibit entitled Animals: Respect / Harmony / Subjugation. Professor Chung’s robotic bat will be on special display along with the work of virtuosos like Albrecht Dürer till March 4, 2018.

Tags: honors GALCIT CMS Soon-Jo Chung

Robot Drone That Mimics Bat Flight

02-01-17

Soon-Jo Chung, Associate Professor of Aerospace and Bren Scholar; Jet Propulsion Laboratory Research Scientist, and colleagues have recreated the key flight mechanisms of bats with unprecedented fidelity in the Bat Bot—a self-contained robotic bat with soft, articulated wings. [Caltech story]

Tags: research highlights GALCIT CMS Soon-Jo Chung

Taking Flight: Professor Soon-Jo Chung

01-27-17

Soon-Jo Chung, Associate Professor of Aerospace and Bren Scholar; Jet Propulsion Laboratory Research Scientist, has wide research interests ranging from the creation of a robotic bat with flexible wings and realistic flight dynamics to the control of swarms of small satellites to the development of computer-vision-based navigation systems. [Interview with Professor Soon-Jo Chung]

Tags: research highlights GALCIT CMS Soon-Jo Chung