Department of Electrical and Mechatronics Engineering
Universidad de Ingeniería y Tecnología - UTEC
UTEC

About Me

I hold a Ph.D. in Robotics from LAAS-CNRS and the University of Toulouse III in Toulouse, France, where I worked in the Group for the Movement of Anthropomorphic Systems with Dr. Nicolas Mansard and Dr. Philippe Soueres. I received the European M.Sc. degree in Computer Vision and Robotics from Heriot-Watt University in Edinburgh (U.K.), the University of Girona (Spain), and the University of Bourgogne (France).

Previously, I was Postdoctoral Associate at Duke University in the Intelligent Motion Lab with Prof. Kris Hauser. I was teaching assistant at the University of Toulouse III. I have also been a Visiting Researcher at the Robotics Institute of Carnegie Mellon University (Pittsburgh, USA). At the National Robotics Engineering Center (NREC) I was part of the Tartan Rescue team for the DARPA Robotics Challenge (DRC). I have also been Research Assistant at the Underwater Vision and Robotics Research Center at the University of Girona (Spain), and previously I was with the Control, Automation and Robotics Group at the Federal University of Rio Grande do Sul (Brazil).

Research Interests

My research goal consists in developing strategies for robots to robustly and autonomously achieve motion objectives. To this end, I investigate the generation of whole-body motion for humanoid and multi-limbed robots using operational-space inverse dynamics (OSID), operational-space inverse kinematics (OSIK) and fast trajectory optimization. I also investigate techniques that allow robots to dynamically walk on unstructured environments and to recover whole-body balance loss using generalizations of the classical Capture Point. One of the main objectives is to develop balancing techniques beyond the overconstraining methods that most robots currently use. Another objective is to incorporate sensor feedback in the inverse dynamics control.

Contact

Oscar E. Ramos Ponce, Ph.D.
Universidad de Ingeniería y Tecnología - UTEC
Jr. Medrano Silva 165 (of. 508), Barranco
Lima, Peru
(+51 1) 230 5000 ext 4268
oramos (at) utec [dot] edu (dot) pe