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.
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
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.
Matthew Pan
A Hybrid Hydrostatic Transmission and Human-Safe Haptic Telepresence Robot
We present a new type of hydrostatic transmission that uses a hybrid air-water configuration, analogous to N+1 cable-tendon transmissions, using N hydraulic lines and 1 pneumatic line for a system with N degrees of freedom (DOFs).
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