7 papers
Tendon-Actuated Robots with a Tapered, Flexible Polymer Backbone: Design, Fabrication, and Modeling
Harald Minde Hansen, Nandita Gallacher, Nicholas B. Andrews +3
This paper presents the design, modeling, and fabrication of 3D-printed, tendon-actuated continuum robots featuring a flexible, tapered backbone constructed from thermoplastic poly…
Observability Conditions and Filter Design for Visual Pose Estimation via Dual Quaternions
Nicholas B. Andrews, Kristi A. Morgansen
This paper presents a dual quaternion framework for 6-DOF visual target tracking that addresses key limitations of perspective-n-point (PP) solvers: sensitivity to noise and out…
Pose Estimation of a Thruster-Driven Bioinspired Multi-Link Robot
Nicholas B. Andrews, Yanhao Yang, Sofya Akhetova +2
This work demonstrates simultaneous pose (position and orientation) and shape estimation for a free-floating, bioinspired multi-link robot with unactuated joints, link-mounted thru…
Modeling, Observability, and Inertial Parameter Estimation of a Planar Multi-Link System with Thrusters
Nicholas B. Andrews, Kristi A. Morgansen
This research provides a theoretical foundation for modeling and real-time estimation of both the pose and inertial parameters of a free-floating multi-link system with link thrust…
Relative Pose Observability Analysis Using Dual Quaternions
Nicholas B. Andrews, Kristi A. Morgansen
Relative pose (position and orientation) estimation is an essential component of many robotics applications. Fiducial markers, such as the AprilTag visual fiducial system, yield a…
Sensor Placement on a Cantilever Beam Using Observability Gramians
Natalie L. Brace, Nicholas B. Andrews, Jeremy Upsal +1
Working from an observability characterization based on output energy sensitivity to changes in initial conditions, we derive both analytical and empirical observability Gramian to…