8 accepted papers
We present a lightweight real-time method to extract 3D ego-motion using a range flow constraint equation, point patch covariance, and a least squares solution. Our method exploits the structured data provided by range sensors, like rotating LiDARs, to attain 6 DOF odometry without building a map or
We present an autonomous quadrotor capable of safely landing on sloped surfaces up to 40 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">°</sup> , intended for emergency scenarios where the only terrain available for landing may be sloped. This system u
In this work we present a Four-Wheeled Independent Drive and Steering (4WIDS) robot named AGRO and a method of controlling its orientation while airborne using wheel reaction torques. This is the first documented use of independently steerable wheels to both drive on the ground and achieve aerial at…
The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator consisting of two articulated robot legs that walk with the operator and help bear a heavy backpack payload. It is desirable for the Human-XRL quadruped system to walk with the rear legs lead the front by 25% of t…
A new approach to the human-robot shared control of the extra robotic legs (XRL) wearable augmentation system is presented. The XRL system consists of two extra legs that bear the entirety of its backpack payload, as well as some of the human operator's weight. The XRL system must support its own ba
We present the design of a new robotic human augmentation system that will assist the operator in carrying a heavy payload, reaching and maintaining difficult postures, and ultimately better performing their job. The Extra Robotic Legs (XRL) system is worn by the operator and consists of two articul…
A new type of parallel robot mechanism with an extendable structure is presented, and its kinematic properties and design parameters are analyzed. The triple scissor extender (TSE) is a six-degree-of-freedom robotic mechanism for reaching high ceilings and positioning an end effector. Three scissor
We present a novel 6 DOF robotic mechanism for reaching high ceilings and positioning an end-effector. The end-effector is supported with three scissor mechanisms that extend towards the ceiling with 6 independent linear actuators moving the base ends of the individual scissors. The top point of eac