Duncan Calvert

A chronological showcase of projects

2014 - 2019: Institute for Human and Machine Cognition, Research Associate

Humanoid Behaviors

By combining the strengths of robots and humans, autonomous, fast, behaviors are under development. As the robot's autonomous capabilities increase, behaviors and their user interfaces can take over work from the human. In the video below, the operator selects a series of waypoints and the robot is left to accomplish the task, despite the rough terrain and control difficulty of bipedalism.

Teleoperation of Humanoid Robots in Virtual Reality

In the videos below, a humanoid robot is teleoperated with a VR system. The robot's arm movements track the human's in order to accomplish manipulation tasks.

Java Composite Build Configuration

A complex build configuration using Gradle was developed to allow IHMC Robot Lab's 2 million lines of software to scale. The lab needed a way to hold open, proprietary, and standalone software projects in separate repositories while retaining the option to build from binary or source, interchangably, with ease. The configuration also allows for classpath isolation across build servers and IntelliJ and Eclipse IDEs.

Project website: https://github.com/ihmcrobotics/ihmc-build

Continuous Integration Infrastructure

A continuous integration pipeline is designed and maintained for the IHMC Robot Lab to run around 5000 unit tests ranging from low level math and geometry libraries to full scale humanoid behavior simulations.

CI Pipeline

Swing Over Planar Regions Trajectory Expander

A planning module was developed to avoid tripping on known obstacles while executing a footstep plan. The module iterates on a simulation of the collision model arcing through the footstep trajectory, detecting a collision and expanding the trajectory and trying again until there is no collision. The output is the two trajectory waypoints supported by the walking controller.

Algorithm Visualizer Screenshot

DARPA Robotics Challenge

IHMC placed 2nd in the DARPA Robotics Challenge Finals in 2015. A 30 DoF hydraulic humanoid robot was piloted through an obstacle course from a warehouse a mile away with obstructed communication. The robot was able to accomplish all 8 tasks in under 1 hour on the second run. (https://en.wikipedia.org/wiki/DARPA_Robotics_Challenge)

2010 - 2014: Computer Science B.S., University of West Florida

UWF Unmanned Ground Vehicle

This vehicle was designed and built by Duncan Calvert, Madison Fortenberry, and Kevin Van Landingham, beginning in August 2013 and ending in June 2014. The vehicle was designed according to strict specifications outlined by the 2014 International Ground Vehicle Competition official rules. (www.igvc.org)

The main features of the vehicle hardware include 18" drive wheels, 4 cameras (2 side-facing wide angle), 5 ultrasonic sensors, 5 ARM-based system-on-chip embedded computers, 1 real-time ARM-based microcontroller, and power and safety equipment. The cost of the project totaled roughly $3000, excluding the Hokuyo laser scanner, purchased previously for ~$4000.

UGV Final Configuration UGV Final Configuration

The UWF Unmanned Ground Vehicle in its final configuration.

3D simulation in jMonkey Engine 3 using Java. Uses actual design models exported from Autodesk Inventor. Transmits a 270 degree sensor view via 780 data points at 10 Hz to a monitor utility.

UGV CAD Design 1 UGV CAD Design 2

The two previous design iterations. We first tried to implement 4-wheel independent suspension, but this design turned out to be too costly in time and money. Secondly, we modeled and contructed a four wheel drive rigid body system, which, due to friction and the body geometry, was unable to pivot reliably. The vehicle was modeled in Autodesk Inventor.

RILE Inc. (Robotics Interactive Learning Environment)

RILE is an educational robotics company that currently specializes in middle school level physics lessons. www.rileinc.com

The linear-motion-teaching robots use a PID algorithm to eliminate lateral motion as they assume their targeted velocity and acceleration vectors. They utilize ultrasonic rangefinders to record motion and avoid collisions.

RILE Galileo Prototype RILE Galileo Prototype RILE Galileo Prototype RILE Galileo Prototype

The images above show an early prototype of the latest version of RILE robots, internally codenamed "Galileo". This robot uses 3D printed parts for its structure.

RILE Vex Robot RILE Vex Robot Fleet

The images above show the first deployable prototype for RILE Inc., based on the VEX robotics platform. These robots run C++ code on an ARM9 processor runnning embedded linux. The robot uses the libquerk API developed at Carnegie Mellon University.