129 citations · 889 across the 54 of their papers we have counts for
10 papers · 2 filters
Dynamic Task Execution using Active Parameter Identification with the Baxter Research Robot
Andrew D. Wilson, Jarvis A. Schultz, Alex R. Ansari +1
This paper presents experimental results from real-time parameter estimation of a system model and subsequent trajectory optimization for a dynamic task using the Baxter Research R…
Trajectory Synthesis for Fisher Information Maximization
Andrew D. Wilson, Jarvis A. Schultz, Todd D. Murphey
Estimation of model parameters in a dynamic system can be significantly improved with the choice of experimental trajectory. For general, nonlinear dynamic systems, finding globall…
Autonomous Visual Rendering using Physical Motion
Ahalya Prabhakar, Anastasia Mavrommati, Jarvis Schultz +1
This paper addresses the problem of enabling a robot to represent and recreate visual information through physical motion, focusing on drawing using pens, brushes, or other tools.…
A Propagative Model of Simultaneous Impact: Existence, Uniqueness, and Design Consequences
Vlad Seghete, Todd Murphey
This paper presents existence and uniqueness results for a propagative model of simultaneous impacts that is guaranteed to conserve energy and momentum in the case of elastic impac…
Model-Based Control Using Koopman Operators
Ian Abraham, Gerardo De La Torre, Todd D. Murphey
This paper explores the application of Koopman operator theory to the control of robotic systems. The operator is introduced as a method to generate data-driven models that have ut…
Ergodic Exploration using Binary Sensing for Non-Parametric Shape Estimation
Ian Abraham, Ahalya Prabhakar, Mitra J. Z. Hartmann +1
Current methods to estimate object shape---using either vision or touch---generally depend on high-resolution sensing. Here, we exploit ergodic exploration to demonstrate successfu…