5 papers · 1 filter
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…
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…