3 papers
cs.RO2020
Reachable Sets for Safe, Real-Time Manipulator Trajectory Design
Patrick Holmes, Shreyas Kousik, Bohao Zhang +4
For robotic arms to operate in arbitrary environments, especially near people, it is critical to certify the safety of their motion planning algorithms. However, there is often a t…
q-bio.QM2019
Characterizing the limits of human stability during motion: perturbative experiment validates a model-based approach for the Sit-to-Stand task
Patrick D. Holmes, Shannon M. Danforth, Xiao-Yu Fu +2
Falls affect a growing number of the population each year. Clinical methods to identify those at greatest risk for falls usually evaluate individuals while they perform specific mo…
math.OC2016
Convex Estimation of the -Confidence Reachable Sets of Systems with Parametric Uncertainty
Patrick Holmes, Shreyas Kousik, Shankar Mohan +1
Accurately modeling and verifying the correct operation of systems interacting in dynamic environments is challenging. By leveraging parametric uncertainty within the model descrip…