David Christensen
Catching a Real Ball in Virtual Reality
We present a system enabling users to accurately catch a real ball while immersed in a virtual reality environment.
Towards Robot Autonomy in Group Conversations: Understanding the Effects of Body Orientation and Gaze
For this experiment, we designed a novel protocol to induce changes in the robot's group and study different social contexts.
A Task-Level Iterative Learning Control Algorithm for Accurate Tracking in Manipulators with Modeling Errors and Stringent Joint Position Limits
We present an iterative learning control algorithm for accurate task space tracking of kinematically redundant robots with stringent joint position limits and kinematic modeling errors.
Dynamic Skin Deformation SimulationUsing Musculoskeletal Model and Soft Tissue Dynamics
In this paper, we present an algorithm that generates natural, dynamic, and detailed skin deformation (movement and jiggle) from joint angle data sequences.
Tree Cavity Inspection Using Aerial Robots
We present an aerial robotic platform for remote tree cavity inspection, based on a hexacopter Micro-Aerial vehicle (MAV) equipped with a dexterous manipulator.
Mechanical Implementation of a Variable-Stiffness Actuator for a Softly Strummed Ukulele
This research illustrates the design, implementation, and evaluation of pneumatic variable-stiffness actuator (VSA) used to strum a four-stringed ukulele with audio variability.
Task-based Limb Optimization for Legged Robots
In this paper, we propose such a model to codesign the motion and leg configurations of a robot such that a measure of performance is optimized.
Dynamic Skin Deformation Simulation Using Musculoskeletal Model and Soft Tissue Dynamics
In this paper, we present an algorithm that generates natural, dynamic, and detailed skin deformation (movement and jiggle) from joint angle data sequences.
Untethered One-Legged Hopping in 3D Using Linear Elastic Actuator in Parallel (LEAP)
We present the design and control of an untethered, energetically autonomous single-legged hopping robot.
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