6 accepted papers
The discovery of ocean worlds such as Enceladus, Titan, and Europa motivates the development of versatile autonomous mobility systems to enable the next era of space exploration where there is large uncertainty in terrain specifications due to a lack of prior surface reconnaissance missions. To expl…
The Exobiology Extant Life Surveyor (EELS) is a snake-like mobile instruments platform under development at Jet Propulsion Laboratory (JPL) for a mission concept to find evidence of life on Saturn's sixth largest moon, Enceladus. To conduct a life surveying mission there, the EELS platform must firs…
Robotic hopping requires high performance and precision, due to its extreme interactions with the environment. Designing a system that will perform optimally, or even stably, for this motion primitive is a significant challenge. In previous work, it was shown that designing a robot with two springs…
Robotic Hopping is challenging from the perspective of both modeling the dynamics as well as the mechanical design due to the short period of ground contact in which to actuate on the world. Previous work has demonstrated stable hopping on a moving-mass robot, wherein a single spring was utilized be…
Hopping is a highly dynamic motion requiring precise input over brief moments of ground contact in order to achieve desired performance. While this problem has been approached from multiple perspectives, this work provides a comparative analysis of two robot models. The first model uses an actuator…
This work presents the preliminary experimental validation of a systematic prosthetic control strategy on a custom compliant transfemoral prosthesis with the end result being energy efficient 3-dimension (3D) multi-contact prosthetic walking. In particular, with the goal of capturing essential compo…