Roger D. Quinn — accepted AI-conference papers

2023

A Bioinspired Synthetic Nervous System Controller for Pick-and-Place Manipulation

Yanjun Li, Ravesh Sukhnandan, Jeffrey P. Gill, Hillel J. Chiel, Victoria Webster-Wood, Roger D. Quinn

ICRA 2023poster

The Synthetic Nervous System (SNS) is a biologically inspired neural network (NN). Due to its capability of capturing complex mechanisms underlying neural computation, an SNS model is a candidate for building compact and interpretable NN controllers for robots. Previous work on SNSs has focused on a…

Cited by 6 Source ↗Scholar ↗

2015

A low-cost robot using omni-directional vision enables insect-like behaviors

Charles Hart, E.J. Kreinar, David Chrzanowski, Kathryn A. Daltorio, Roger D. Quinn

ICRA 2015poster

RAMBLER Robot is designed for researching insect inspired behavioral control algorithms. To evaluate these algorithms, RAMBLER Robot needs autonomous localization without typical sensors like wheel odometers or GPS. The primary objective of this work is to independently, accurately, and robustly rec…

Cited by 5 Source ↗Scholar ↗

2015

Introducing MantisBot: Hexapod robot controlled by a high-fidelity, real-time neural simulation

Nicholas S. Szczecinski, David M. Chrzanowski, David W. Cofer, Andrea S. Terrasi, David R. Moore, Joshua P. Martin +2

IROS 2015poster

We present MantisBot, a 28 degree of freedom robot controlled by a high-fidelity neural simulation. It is modeled after the mantis, with many degrees of freedom, because we intend to study directed behaviors and leg multi-functionality, such as prey tracking and striking. As a first step, we present…

Cited by 37 Source ↗Scholar ↗

2015

The Tri-Wheel: A novel wheel-leg mobility concept

Lauren M. Smith, Roger D. Quinn, Kyle A. Johnson, William R. Tuck

IROS 2015poster

The Tri-Wheel is a novel wheel-leg locomotion concept inspired by work with first responders. Through its two modes of operation—Driving Mode and Tumbling Mode— this mechanism is able to both drive quickly on smooth surfaces at roughly 1.7 times desired speed and climb objects as tall as 67% of the…

Cited by 26 Source ↗Scholar ↗

2015

Towards bridging the reality gap between tensegrity simulation and robotic hardware

Brian T. Mirletz, In-Won Park, Roger D. Quinn, Vytas SunSpiral

IROS 2015poster

Using a new hardware implementation of our designs for tunably compliant spine-like tensegrity robots, we show that the NASA Tensegrity Robotics Toolkit can effectively generate and predict desirable locomotion strategies for these many degree of freedom systems. Tensegrity, which provides structura…

Cited by 51 Source ↗Scholar ↗

2015

Walking inverted on ceilings with wheel-legs and micro-structured adhesives

William A. Breckwoldt, Kathryn A. Daltorio, Lars Heepe, Andrew D. Horchler, Stanislav N. Gorb, Roger D. Quinn

IROS 2015poster

Gecko-inspired structured adhesives will be valuable for novel climbing and space robots. Robots also provide useful evaluation platforms for these adhesives. Climbing robots need to be lightweight, and thus many designs use multiple feet on a single rotating wheel-leg. Generally, such designs have…

Cited by 31 Source ↗Scholar ↗