4 citations · 9 across the 7 of their papers we have counts for
6 papers · 1 filter
Serving Time: Real-Time, Safe Motion Planning and Control for Manipulation of Unsecured Objects
Zachary Brei, Jonathan Michaux, Bohao Zhang +2
A key challenge to ensuring the rapid transition of robotic systems from the industrial sector to more ubiquitous applications is the development of algorithms that can guarantee s…
Can't Touch This: Real-Time, Safe Motion Planning and Control for Manipulators Under Uncertainty
Jonathan Michaux, Patrick Holmes, Bohao Zhang +7
Ensuring safe, real-time motion planning in arbitrary environments requires a robotic manipulator to avoid collisions, obey joint limits, and account for uncertainties in the mass…
Trip Recovery in Lower-Limb Prostheses using Reachable Sets of Predicted Human Motion
Shannon M. Danforth, Patrick D. Holmes, Ram Vasudevan
People with lower-limb loss, the majority of which use passive prostheses, exhibit a high incidence of falls each year. Powered lower-limb prostheses have the potential to reduce f…
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…
Technical Report: Safe, Aggressive Quadrotor Flight via Reachability-based Trajectory Design
Shreyas Kousik, Patrick Holmes, Ramanarayan Vasudevan
Quadrotors can provide services such as infrastructure inspection and search-and-rescue, which require operating autonomously in cluttered environments. Autonomy is typically achie…
Automated Camera-Based Estimation of Rehabilitation Criteria Following ACL Reconstruction
Choong Hee Kim, Shannon M. Danforth, Patrick D. Holmes +4
Anterior cruciate ligament (ACL) reconstruction necessitates months of rehabilitation, during which a clinician evaluates whether a patient is ready to return to sports or occupati…