3 accepted papers
We present a novel systematic design framework for general under-actuated tendon-driven (UATD) robotic systems to exhibit desired behaviors both during the free motion and the contact task. For this, we propose stiffness decomposition, which enables us to completely decompose the configuration space…
We propose a novel haptic rendering scheme based on passive midpoint integrator (PMI), which is an extension of our prior non-iterative passive mechanical integrator (NPMI) to maximal coordinates for simulation of complex articulated rigid bodies and to multi-point intermittent contact with the line…
We propose a novel multi-rotor flying platform, ODAR (omni-directional aerial robot), which is fully-actuated (i.e., can assume arbitrary motion in SE(3) or generate arbitrary control wrench in se(3)) by six opportunistically distributed rotors, each driven by reversible ESC (electronic speed contro…