Robotics

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.

In this paper, we present an algorithm that generates natural, dynamic, and detailed skin deformation (movement and jiggle) from joint angle data sequences.

We present an aerial robotic platform for remote tree cavity inspection, based on a hexacopter Micro-Aerial vehicle (MAV) equipped with a dexterous manipulator.

This research illustrates the design, implementation, and evaluation of pneumatic variable-stiffness actuator (VSA) used to strum a four-stringed ukulele with audio variability.

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.

In this paper, we present an algorithm that generates natural, dynamic, and detailed skin deformation (movement and jiggle) from joint angle data sequences.

We present the design and control of an untethered, energetically autonomous single-legged hopping robot.

We have developed a toy sized humanoid robot with soft air-filled modules on its links which sense contact and protect the robot and any interacting humans from damaging collisions.

In this work, we develop a controller for realizing smooth and accurate motion of a robotic head with application to a teleoperation system for the Furhat robot head.