Emily Hannigan — accepted AI-conference papers

2020

Automatic Snake Gait Generation Using Model Predictive Control

Emily Hannigan, Bing Song, Gagan Khandate, Maximilian Haas-Heger, Ji Yin, Matei Ciocarlie

ICRA 2020poster

In this paper, we propose a method for generating undulatory gaits for snake robots. Instead of starting from a pre-defined movement pattern such as a serpenoid curve, we use a Model Predictive Control (MPC) approach to automatically generate effective locomotion gaits via trajectory optimization. A…

Cited by 20 Source ↗Scholar ↗

2017

Accurate contact localization and indentation depth prediction with an optics-based tactile sensor

Pedro Piacenza, Weipeng Dang, Emily Hannigan, Jeremy Espinal, Ikram Hussain, Ioannis Kymissis +1

ICRA 2017poster

Traditional methods to achieve high localization accuracy with tactile sensors usually use a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity in fabrication and circuitry, and can be hard to adapt for non pl…

Cited by 20 Source ↗Scholar ↗