83 citations · 138 across the 7 of their papers we have counts for
7 papers
Real-Time Model-Free Deep Reinforcement Learning for Force Control of a Series Elastic Actuator
Ruturaj Sambhus, Aydin Gokce, Stephen Welch +2
Many state-of-the art robotic applications utilize series elastic actuators (SEAs) with closed-loop force control to achieve complex tasks such as walking, lifting, and manipulatio…
Grasp Control of a Cable-Driven Robotic Hand Using a PVDF Slip Detection Sensor
Negin Nikafrooz, Zachary Fuge, Alexander Leonessa
Detecting and preventing slip is a major challenge in robotic hand operation, underpinning the robot's ability to perform safe and reliable grasps. Using the robotic hand design fr…
Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach
Kaveh Akbari Hamed, Vinay R. Kamidi, Wen-Loong Ma +2
This paper presents a hierarchical control strategy based on hybrid systems theory, nonlinear control, and safety-critical systems to enable cooperative locomotion of robotic guide…
Straight-Leg Walking Through Underconstrained Whole-Body Control
Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand +2
We present an approach for achieving a natural, efficient gait on bipedal robots using straightened legs and toe-off. Our algorithm avoids complex height planning by allowing a who…
Capture Point Trajectories for Reduced Knee Bend using Step Time Optimization
Robert J. Griffin, Sylvain Bertrand, Georg Wiedebach +2
Traditional force-controlled bipedal walking utilizes highly bent knees, resulting in high torques as well as inefficient, and unnatural motions. Even with advanced planning of cen…
Walking Stabilization Using Step Timing and Location Adjustment on the Humanoid Robot, Atlas
Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand +2
While humans are highly capable of recovering from external disturbances and uncertainties that result in large tracking errors, humanoid robots have yet to reliably mimic this lev…
Radiation Search Operations using Scene Understanding with Autonomous UAV and UGV
Gordon Christie, Adam Shoemaker, Kevin Kochersberger +3
Autonomously searching for hazardous radiation sources requires the ability of the aerial and ground systems to understand the scene they are scouting. In this paper, we present sy…