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Jason Pusey

5 accepted papers

2024

MIM: Indoor and Outdoor Navigation in Complex Environments Using Multi-Layer Intensity Maps

Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Mohamed Elnoor, Mason Russell, Jason Pusey, Dinesh Manocha
ICRA 2024poster

We present MIM (Multi-Layer Intensity Map), a novel 3D object representation for robot perception and autonomous navigation. MIMs consist of multiple stacked layers of 2D grid maps each derived from reflected point cloud intensities corresponding to a certain height interval. The different layers of…

Cited by 5Source ↗Scholar ↗
2023

VERN: Vegetation-Aware Robot Navigation in Dense Unstructured Outdoor Environments

Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Tianrui Guan, Mason Russell, Damon Conover, Jason Pusey +1
IROS 2023poster

We propose a novel method for autonomous legged robot navigation in densely vegetated environments with a variety of pliable/traversable and non-pliable/untraversable vegetation. We present a novel few-shot learning classifier that can be trained on a few hundred RGB images to differentiate flora th…

Cited by 18Source ↗Scholar ↗
2020

Evaluating the Efficacy of Parallel Elastic Actuators on High-Speed, Variable Stiffness Running

John V. Nicholson, Sean Gart, Jason Pusey, Jonathan E. Clark
IROS 2020poster

Although they take many forms, legged robots rely upon springs to achieve high speed, dynamic locomotion. In this paper we examine the effect of adding parallel springs to robots that rely on virtual compliance. Specifically, we consider the trade-off between energetic efficiency and leg versatility…

Cited by 4Source ↗Scholar ↗
2020

LLAMA: Design and Control of an Omnidirectional Human Mission Scale Quadrupedal Robot

John Nicholson, Jay Jasper, Ara Kourchians, Greg McCutcheon, Max Austin, Mark Gonzalez +4
IROS 2020poster

This paper describes the design, control and initial experimental results of the quadruped robot LLAMA. Designed to operate in a human-scale world, this 67kg-class, all-electric robot is capable of rapid motion over a variety of terrains. Thanks to a unique leg configuration and custom high-torque,…

Cited by 14Source ↗Scholar ↗
2019

Energy Efficient Navigation for Running Legged Robots

Mario Y. Harper, John V. Nicholson, Emmanuel G. Collins, Jason Pusey, Jonathan E. Clark
ICRA 2019poster

Energy-efficient navigation is an important technology for mobile robots because of its potential to increase the operation time of the robot. In particular, when coupled with a dynamic legged quadruped, the need for energy savings is made more apparent as payloads are limited. Due to the complexity…

Cited by 21Source ↗Scholar ↗