Principal Investigator:
Dr. Brian Yamauchi, Lead Roboticist

Publications

Video



The Dynamo Project is funded by the DARPA Defense Sciences Office (DSO) as part of the Maximum Mobility and Manipulation (M3) Program.  Dynamo addresses two high-priority needs expressed by the warfighter:

The Need for Speed

The Need for Rough Terrain Mobility

The scientific goal of the Dynamo Project is to:

The application goal of the Dynamo Project is to:

We have developed a new, online, real-time learning algorithm that we call Dynamic Threshold Learning (DTL) that allows robots to quickly learn the non-linear transitions between different control regimes.  For example, DTL can learn the steering and acceleration inputs that may cause a wheeled vehicle to lose control during aggressive maneuvers.  A DTL-enabled controller can then intervene to prevent the driver from losing control.  Likewise, DTL can learn the pitch and roll conditions that indicate a tracked vehicle is about to roll over in rough terrain.  A DTL-enabled controller can then modulate the vehicle commands to prevent the vehicle from rolling over.