Recent Publications

Toward a data-driven template model for quadrupedal locomotion

This work investigates a data-driven template model for trajectory planning of dynamic quadrupedal robots. Many state-of-the-art approaches involve using a reduced-order model, primarily due to computational tractability. The spirit of the trajectory planning approach in this work draws on recent advancements in the area of behavioral systems theory. Here, we aim to capitalize on the knowledge of well-known template models to construct a data-driven model, enabling us to obtain an information rich reduced-order model.

Construction inspection & monitoring with quadruped robots in future human-robot teaming: A preliminary study

Construction inspection and monitoring are key activities in construction projects. Automation of inspection tasks can address existing limitations and inefficiencies of the manual process to enable systematic and consistent construction inspection. However, there is a lack of an in-depth understanding of the process of construction inspection and monitoring and the tasks and sequences involved to provide the basis for task delegation in a human-technology partnership.

Robots in inspection and monitoring of buildings and infrastructure: A systematic review

Regular inspection and monitoring of buildings and infrastructure, that is collectively called the built environment in this paper, is critical. The built environment includes commercial and residential buildings, roads, bridges, tunnels, and pipelines. Automation and robotics can aid in reducing errors and increasing the efficiency of inspection tasks. As a result, robotic inspection and monitoring of the built environment has become a significant research topic in recent years.

Real-Time and Remote Construction Progress Monitoring with a Quadruped Robot Using Augmented Reality

Construction progress monitoring involves a set of inspection tasks with repetitive in-person observations on the site. The current manual inspection process in construction is time-consuming, inefficient and inconsistent mainly due to human limitations in the ability to persistently and accurately walkthrough the job site and observe the as-built status of which robots are considerably better.

Human-Robot Partnership in Construction Inspection and Monitoring

Dr. Kereshmeh Afsari and Srijeet Halder presented at the "Advanced Technologies in the Built Environment (ATBE) Workshop" organized by the US Army's Engineer Research and Development Center (ERDC) Information Technology Laboratory. The presentation discussed the potential of using robots in the inspection and monitoring of the construction projects.

Identification of Indicators for Effectiveness Evaluation of Four-Legged Robots in Automated Construction Progress Monitoring

Construction progress monitoring is essential to construction processes. Automation of progress data capture during the construction process can address existing limitations and inefficiencies of the manual processes to enable systematic recording of construction progress. To achieve that, legged robots with the adaptability and mobility to traverse a variety of terrains on construction sites can be applied to automate on-site image capture.

A Modeling Methodology Towards Digital Twin Development in Smart Factories for the Industry 4.0 Human Augmentation Experiments

Due to the rapid changes in the production environment and level of task complexity, workers are faced with more knowledge-intensive tasks requiring higher order thinking and better decision-making. Digital Twin has been identified as a promising technology for addressing the challenges of smart factories by integrating physical and virtual spaces allowing data simulation and performance enhancement. The goal of this research is to simulate a manufacturing assembly line work cell using BIM-enabled digital twinning methodology.

A Methodology for BIM-enabled Automated Reality Capture in Construction Inspection with Quadruped Robots

Construction inspection is an important part of the construction management process to ensure that the project is compliant with the requirements, regulations, and standards. Due to time and cost constraints, inspectors representing owners, as well as architects, designers, and other stakeholders might not be able to visit and inspect the project site in person as often as needed. Inspections performed by  mobile robots can allow more frequent inspections and can help communicate project status with all stakeholders more regularly.

Unmanned Aerial Manipulator (UAM) in Construction: Opportunities and Challenges

Unmanned Aerial Vehicles (UAVs) have been utilized as an alternative medium to human workers in data collection processes in various industries. The capabilities of UAVs are now being extended from passive tasks of data collection to active tasks of interacting with the environment by equipping them with manipulators and robotic arms to function as Unmanned Aerial Manipulators (UAMs). Research on UAMs has been growing in the last few years.