Accurate Task-Space Tracking for Humanoids with Modeling Errors using Iterative Learning Control
We demonstrate the efficacy of the algorithm on a theme-park type humanoid doing a drawing task, serving drink in a glass, and serving a drink placed on a tray without spilling.
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.
Dave Kotfis
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.
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.
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.
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