17 citations · 18 across the 6 of their papers we have counts for
7 papers
The QuadSoft: Design, Construction, and Experimental Validation of a Soft and Actuated Quadrotor
Rodolfo Verdin, Hugo Moreno, Mark W. Spong +1
This paper presents QuadSoft, a novel fully actuated quadrotor equipped with continuous-curvature, tendon-driven soft robotic arms. The design combines a semi-rigid central frame w…
The Soft-PVTOL: modeling and control
Gerardo Flores, Mark W. Spong
This paper presents, for the first time, the soft planar vertical take-off and landing (Soft-PVTOL) aircraft. This concept captures the soft aerial vehicle's fundamental dynamics w…
Integral Line-of-Sight Curved Path Following of Helical Microswimmers Actuated by Rotating Magnetic Dipoles
Alireza Mohammadi, Mark W. Spong
This short paper investigates the problem of curved path following for helical microswimmers actuated by rotating magnetic dipoles. The proposed solution, which relies on an integr…
Chetaev Instability Framework for Kinetostatic Compliance-Based Protein Unfolding
Alireza Mohammadi, Mark W. Spong
Understanding the process of protein unfolding plays a crucial role in various applications such as design of folding-based protein engines. Using the well-established kinetostatic…
Integral Line-of-Sight Path Following Control of Magnetic Helical Microswimmers Subject to Step-Out Frequencies
Alireza Mohammadi, Mark W. Spong
This paper investigates the problem of straight-line path following for magnetic helical microswimmers. The control objective is to make the helical microswimmer to converge to a s…
Quadratic Optimization-Based Nonlinear Control for Protein Conformation Prediction
Alireza Mohammadi, Mark W. Spong
Predicting the final folded structure of protein molecules and simulating their folding pathways is of crucial importance for designing viral drugs and studying diseases such as Al…
Time-optimal Velocity Tracking Control for Differential Drive Robots
Hasan A Poonawala, Mark W Spong
Nonholonomic wheeled mobile robots are often required to implement algorithms designed for holonomic kinematic systems. This creates a velocity tracking problem for the actual whee…