14 citations · 18 across the 8 of their papers we have counts for
3 papers · 1 filter
Bounded haptic teleoperation of a quadruped robot's foot posture for sensing and manipulation
Guiyang Xin, Joshua Smith, David Rytz +3
This paper presents a control framework to teleoperate a quadruped robot's foot for operator-guided haptic exploration of the environment. Since one leg of a quadruped robot typica…
Fractal Impedance for Passive Controllers: A Framework for Interaction Robotics
Keyhan Kouhkiloui Babarahmati, Carlo Tiseo, Joshua Smith +3
There is increasing interest in control frameworks capable of moving robots from industrial cages to unstructured environments and coexisting with humans. Despite significant impro…
Online Simultaneous Semi-Parametric Dynamics Model Learning
Joshua Smith, Michael Mistry
Accurate models of robots' dynamics are critical for control, stability, motion optimization, and interaction. Semi-Parametric approaches to dynamics learning combine physics-based…