49 citations · 120 across the 12 of their papers we have counts for
13 papers
Tactile-based Exploration, Mapping and Navigation with Collision-Resilient Aerial Vehicles
Karishma Patnaik, Aravind Adhith Pandian Saravanakumaran, Wenlong Zhang
This article introduces XPLORER, a passive deformable UAV with a spring-augmented chassis and proprioceptive state awareness, designed to endure collisions and maintain smooth cont…
Configuration Tracking Control of a Multi-Segment Soft Robotic Arm Using a Cosserat Rod Model
Azadeh Doroudchi, Zhi Qiao, Wenlong Zhang +1
Controlling soft continuum robotic arms is challenging due to their hyper-redundancy and dexterity. In this paper we demonstrate, for the first time, closed-loop control of the con…
Invariant Extended Kalman Filtering for Human Motion Estimation with Imperfect Sensor Placement
Zenan Zhu, Seyed Mostafa Rezayat Sorkhabadi, Yan Gu +1
This paper introduces a new invariant extended Kalman filter design that produces real-time state estimates and rapid error convergence for the estimation of the human body movemen…
Design and Evaluation of an Invariant Extended Kalman Filter for Trunk Motion Estimation with Sensor Misalignment
Zenan Zhu, Seyed Mostafa Rezayat Sorkhabadi, Yan Gu +1
Understanding human motion is of critical importance for health monitoring and control of assistive robots, yet many human kinematic variables cannot be directly or accurately meas…
A Soft-Bodied Aerial Robot for Collision Resilience and Contact-Reactive Perching
Pham H. Nguyen, Karishma Patnaik, Shatadal Mishra +2
Current aerial robots demonstrate limited interaction capabilities in unstructured environments when compared with their biological counterparts. Some examples include their inabil…
Collision Recovery Control of a Foldable Quadrotor
Karishma Patnaik, Shatadal Mishra, Zachary Chase +1
Autonomous missions of small unmanned aerial vehicles (UAVs) are prone to collisions owing to environmental disturbances and localization errors. Consequently, a UAV that can endur…
When Shall I Be Empathetic? The Utility of Empathetic Parameter Estimation in Multi-Agent Interactions
Yi Chen, Lei Zhang, Tanner Merry +3
Human-robot interactions (HRI) can be modeled as dynamic or differential games with incomplete information, where each agent holds private reward parameters. Due to the open challe…
Design and Control of SQUEEZE: A Spring-augmented QUadrotor for intEractions with the Environment to squeeZE-and-fly
Karishma Patnaik, Shatadal Mishra, Seyed Mostafa Rezayat Sorkhabadi +1
This paper presents the design and control of a novel quadrotor with a variable geometry to physically interact with cluttered environments and fly through narrow gaps and passagew…
Predictive Modeling of Periodic Behavior for Human-Robot Symbiotic Walking
Geoffrey Clark, Joseph Campbell, Seyed Mostafa Rezayat Sorkhabadi +2
We propose in this paper Periodic Interaction Primitives - a probabilistic framework that can be used to learn compact models of periodic behavior. Our approach extends existing fo…
Fabric Soft Poly-Limbs for Physical Assistance of Daily Living Tasks
Pham H. Nguyen, Imran I. B. Mohd, Curtis Sparks +3
This paper presents the design and development of a highly articulated, continuum, wearable, fabric-based Soft Poly-Limb (fSPL). This fabric soft arm acts as an additional limb tha…
How Shall I Drive? Interaction Modeling and Motion Planning towards Empathetic and Socially-Graceful Driving
Yi Ren, Steven Elliott, Yiwei Wang +2
While intelligence of autonomous vehicles (AVs) has significantly advanced in recent years, accidents involving AVs suggest that these autonomous systems lack gracefulness in drivi…
On Locomotion of a Laminated Fish-inspired robot in a Small-to-size Environment
Mohammad Sharifzadeh, Roozbeh Khodambashi, Wenlong Zhang +1
Many different robots have been designed and built to work under water. In many cases, researchers have chosen to use bio-inspired platforms. In most cases, the main goal of the fi…
Classification of Neurological Gait Disorders Using Multi-task Feature Learning
Ioannis Papavasileiou, Wenlong Zhang, Xin Wang +3
As our population ages, neurological impairments and degeneration of the musculoskeletal system yield gait abnormalities, which can significantly reduce quality of life. Gait rehab…