The Robot Motor Intelligence (RoMI) Lab focuses on creating motor intelligence in legged robots that enables them to transverse challenging terrains and perform versatile manipulation tasks.
With a large interests in general aspect to create motor intelligence in robots, our aim is to find computational principles that describe what we call the motor function. Such function should have a conceptual structure, and not only a universal approximator. With this, our robots could
- consider rich sensory data,
- create multi-contact policies,
- identify unmodeled dynamics and environments, among others.
To achieve so, we study a range of different disciplines:
- numerical optimization,
- model predictive control,
- deep learning,
- robot design, and
- perception.
Our research agenda is devoted to enable agile locomotion and manipulation in robots with legs and arms.