IHMC researchers are pushing the envelope of what is possible in the domain of robotics. We have an interdisciplinary group composed of expertise in mechanical engineering, electrical engineering, computer science, mathematics, physics, human factors, and interface design. Our group has several different areas we are focusing on:
Humanoid and Legged Robotics
At IHMC, we have developed Nadia, a hydraulic humanoid robot designed to serve as a new platform for research in locomotion and control. Nadia's size, weight, speed, torque, and range of motion are comparable to that of a typical human, making it an ideal candidate for advancing humanoid robotics. Currently, we are transitioning to a new fully electric version of this robot, called Alexander, in collaboration with Boardwalk Robotics. While hydraulics offer significant potential due to their power density and versatility, we have shifted focus to electric actuation. The electric technology, which has seen a surge in innovation and adoption within the commercial sector, now offers improved performance, ease of maintenance, and scalability, making it a more practical solution in the current landscape.
Our primary focus is on developing control algorithms for humanoid robots, including the Alexander robot, NASA Johnson Space Center's Valkyrie humanoid robot, and other off-the-shelf humanoid platforms. Additionally, we work on autonomous robot behaviors tailored for urban exploration, breaching operations, and remote work in space applications.
We are committed to develop systems that can also function as human avatars and teammates in dynamic, unstructured environments—places where pre-learned autonomy alone would not suffice. These environments demand real-time adaptation, requiring advanced human cognition and the development of adaptive techniques.
To effectively direct robot autonomy or develop humanoids as avatars, it is essential to create systems that seamlessly integrate with human operators. For this reason, we focus on the design and development of efficient operator interfaces and intuitive human-machine interfaces, enabling real-time collaboration between humans and robots.
Exoskeletons
Our research in wearable robotics has developed several variations of lower body exoskeleton devices. These devices encompass a vast array of applications including mobility assistance for spinal paraplegic injuries, strength amplification for able-bodied users, and compact resistance exercise for astronauts in space. By collaborating with other leaders in the field such as NASA Johnson Space Center, we hope to advance the state of the art in wearable robotics to be compact, light-weight, safe, and an avenue for increasing the quality of life and performance across a wide variety of challenging and critical situations. We're also working with the Department of Energy and Sandia National Labs to develop augmentative exoskeletons that offload the weight of heavy PPE to prevent long-term biomechanical injury.
Human-Machine Teaming
IHMC is at the forefront of advancing human-machine teamwork, focusing on developing robots that can collaborate effectively with humans in dynamic environments. Our research centers around the concept of Coactive Design, which emphasizes interdependence between team members—both humans and robots. This framework aims to evolve autonomous systems from independent operations to collaborative teamwork, allowing robots to complement human capabilities and improve overall performance.
We have developed innovative tools, such as the Interdependence Analysis Table, to analyze and improve teamwork, while Joint Activity Graphs (JAGs) provide a foundation for modeling and implementing joint activities in teams. Our research has been applied in various domains, including autonomous vehicle systems, military applications, and disaster response. We have also pioneered methods for measuring team performance, introducing metrics like Joint Activity Efficiency (JAE) to assess how well teams are working together.
In addition to our work in team collaboration, IHMC is also pushing the boundaries of robotic learning and adaptation. Our actor-critic methods have shown success in teaching robots to work as effective teammates, with applications in both simulation and real-world scenarios. Our research is setting the stage for a future where robots and humans work side by side, enhancing productivity and performance in complex tasks.
Building on our focus on human-machine teaming, one of our key projects, the VR Workbench Project, aims to develop an advanced VR system for military training. This system enhances the speed and efficiency of strategy evaluation and the adoption of new technologies. By leveraging simulation, the VR Workbench enables rapid testing and adaptation of strategies, directly supporting decision-making in complex and high-stakes environments.
Some older projects
Additionally, we are interested in community outreach and helping the public better understand the abilities and limitations of robotics. One of the goals at IHMC is to engage in public outreach through Science Saturdays, Robotics Camps, and open house events to instill this understanding and an interest in the work that we do. We attempt to do this by introducing robots to people’s lives and inspiring the children that will become future roboticists to pursue paths that will help make sure that there is no shortage of talented scientists, researchers, and engineers ready to help develop the next great robot.
