1 citations · 1 across the 7 of their papers we have counts for
7 papers
Deformable Multibody Modeling for Model Predictive Control in Legged Locomotion with Embodied Compliance
Keran Ye, Konstantinos Karydis
The paper presents a method to stabilize dynamic gait for a legged robot with embodied compliance. Our approach introduces a unified description for rigid and compliant bodies to a…
Design and Central Pattern Generator Control of a New Transformable Wheel-Legged Robot
Tyler Bishop, Keran Ye, Konstantinos Karydis
This paper introduces a new wheel-legged robot and develops motion controllers based on central pattern generators (CPGs) for the robot to navigate over a range of terrains. A tran…
A Novel Lockable Spring-loaded Prismatic Spine to Support Agile Quadrupedal Locomotion
Keran Ye, Kenneth Chung, Konstantinos Karydis
This paper introduces a way to systematically investigate the effect of compliant prismatic spines in quadrupedal robot locomotion. We develop a novel spring-loaded lockable spine…
Evaluation of Legged Robot Landing Capability Under Aggressive Linear and Angular Velocities
Keran Ye, Konstantinos Karydis
This paper proposes a method to evaluate the capability of aggressive legged robot landing under significant touchdown linear and angular velocities upon impact. Our approach build…
Modeling and Trajectory Optimization for Standing Long Jumping of a Quadruped with A Preloaded Elastic Prismatic Spine
Keran Ye, Konstantinos Karydis
This paper presents a novel methodology to model and optimize trajectories of a quadrupedal robot with spinal compliance to improve standing jump performance compared to quadrupeds…
A Portable Agricultural Robot for Continuous Apparent Soil ElectricalConductivity Measurements to Improve Irrigation Practices
Merrick Campbell, Keran Ye, Elia Scudiero +1
Near-ground sensing data, such as geospatial measurements of soil apparent electrical conductivity (ECa), are used in precision agriculture to improve farming practices and increas…
Development and Testing of a Novel Automated Insect Capture Module for Sample Collection and Transfer
Keran Ye, Gustavo J. Correa, Tom Guda +3
There exists an urgent need for efficient tools in disease surveillance to help model and predict the spread of disease. The transmission of insect-borne diseases poses a serious c…