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.
Study of Children’s Hugging for Interactive Robot Design
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.
Imitating Human Movement with Teleoperated Robotic Head
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.
Morgan Pope
Lightweight Eye Capture Using a Parametric Model
We present the first approach for high-quality lightweight eye capture, which leverages a database of pre-captured eyes to guide the reconstruction of new eyes from much less constrained inputs, such as traditional single-shot face scanners or even a single photo from the internet.
Design of a Hopping Mechanism Using a Voice Coil: Linear Elastic Actuator in Parallel (LEAP)
We aim to create a hopping mechanism for a small-scale, one-legged, untethered hopping robot.
Design of a Soft Upper Body Robot for Physical Human-Robot Interaction
In this paper, we present the design process of these modules and demonstrate their efficacy by implementing a “grab and move” user interface for posing the robot link by link.
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