6 accepted papers
To enable a mobile manipulator to effectively maneuver a cart, we derive a dynamic model for the cart that incorporates the nonholonomic constraints on its motion, and use this model to formulate an estimator for the cart's inertial parameters. By deriving the dynamic equations of the cart using a c…
Continuum robots have long held a great potential for applications in inspection of remote, hard-to-reach environments. In future environments such as the Deep Space Gateway, remote deployment of robotic solutions will require a high level of autonomy due to communication delays and unavailability o…
Control of wire-borne underactuated brachiating robots requires a robust feedback control design that can deal with dynamic uncertainties, actuator constraints and unmeasurable states. In this paper, we develop a robust feedback control for brachiating on flexible cables, building on previous work o…
In this work, we introduce a framework for performing dexterous manipulations on the humanoid robot Robonaut-2. This framework memorizes how actions change perceptions and can learn a sequence of actions based on demonstrations. With the anthropomorphic Robonaut-2 hand and arm, a variety of manipula…
This paper describes the dynamic modeling and locomotion control of a two-link underactuated brachiating robot traversing a flexible cable. A multi-body system comprised of a two-link robot, a flexible cable, and coupling soft junctions is modeled dynamically. This model is used to formulate an ener…
A novel brachiating robot design is presented for the purpose of traversing elevated wire networks. The robot is capable of moving along a single wire and between parallel wires, thereby enabling traversal of a two-dimensional space. Several novel features distinguish this design compared to previou…