James Holley — accepted AI-conference papers

2019

Thermal Recovery of Multi-Limbed Robots With Electric Actuators

Steven Jens Jorgensen, James Holley, Frank Mathis, Joshua S. Mehling, Luis Sentis

RA-L 2019

The problem of finding thermally minimizing configurations of a humanoid robot to recover its actuators from unsafe thermal states is addressed. A first-order, data-driven, effort-based, thermal model of the robot's actuators is devised, which is used to predict future thermal states. Given this pre

Cited by 6 Source ↗Scholar ↗

2015

Leveraging disturbance observer based torque control for improved impedance rendering with series elastic actuators

Joshua S. Mehling, James Holley, Marcia K. O'Malley

IROS 2015poster

The fidelity with which series elastic actuators (SEAs) render desired impedances is important. Numerous approaches to SEA impedance control have been developed under the premise that high-precision actuator torque control is a prerequisite. Indeed, the design of an inner torque compensator has a si…

Cited by 43 Source ↗Scholar ↗