69 citations · 462 across the 66 of their papers we have counts for
7 papers · 1 filter
A Learning-Based Framework for Safe Human-Robot Collaboration with Multiple Backup Control Barrier Functions
Neil C. Janwani, Ersin Daş, Thomas Touma +3
Ensuring robot safety in complex environments is a difficult task due to actuation limits, such as torque bounds. This paper presents a safety-critical control framework that lever…
The Fractal Hand-II: Reviving a Classic Mechanism for Contemporary Grasping Challenges
Malcolm G. A. Tisdale, Joel W. Burdick
This paper, and its companion, propose a new fractal robotic gripper, drawing inspiration from the century-old Fractal Vise. The unusual synergistic properties allow it to passivel…
Robust Control Barrier Functions with Uncertainty Estimation
Ersin Daş, Skylar X. Wei, Joel W. Burdick
This paper proposes a safety controller for control-affine nonlinear systems with unmodelled dynamics and disturbances to improve closed-loop robustness. Uncertainty estimation-bas…
An Active Learning Based Robot Kinematic Calibration Framework Using Gaussian Processes
Ersin Daş, Joel W. Burdick
Future NASA lander missions to icy moons will require completely automated, accurate, and data efficient calibration methods for the robot manipulator arms that sample icy terrains…
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation; Results from the DARPA Subterranean Challenge
Anushri Dixit, David D. Fan, Kyohei Otsu +3
Although autonomy has gained widespread usage in structured and controlled environments, robotic autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-…
Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments
Amanda Bouman, Joshua Ott, Sung-Kyun Kim +5
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked w…