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Enabling individuals who are living with reduced mobility of the hand to utilize portable exoskeletons at home has the potential to deliver rehabilitation therapies with a greater intensity and relevance to activities of daily living. Various hand exoskele ...
In this paper, we present a new walking controller based on 3LP model. Taking advantage of linear equations and closed-form solutions of 3LP, the proposed controller can project the state of the robot at any time during the phase back to a certain event fo ...
During the uniform locomotion of compliant legged robots and other terrain vehicles, the body of the robot often exhibits complex oscillations which may have a disturbing effect on onboard sensors. For a camera mounted on such a robot, due to perspective p ...
Stiffness control is critical in human manipulation. The ability to transition between a low stiffness state, allowing for compliant interactions with the environment, through to rigid states, where it is possible to exert high forces, enables much functio ...
Institute of Electrical and Electronics Engineers Inc.2021
The design of high-performing robotic controllers constitutes an example of expensive optimization in uncertain environments due to the often large parameter space and noisy performance metrics. There are several evaluative techniques that can be employed ...
Optimization-based controllers are advanced control systems whose mechanism of determining control inputs requires the solution of a mathematical optimization problem. In this thesis, several contributions related to the computational effort required for o ...
We consider the problem of designing controllers for nonholonomic mobile robots converging to the source (minimum) of a field. In addition to the mobility constraints posed by the nonholonomic dynamics, we assume that the field is completely unknown to the ...
We consider the problem of designing controllers to steer mobile robots to the source (the minimizer) of a signal field. In addition to the mobility constraints, e.g., posed by the nonholonomic dynamics, we assume that the field is completely unknown to th ...
Institute of Electrical and Electronics Engineers2012
Recent advances in circuits have enabled significant reduction in the size of wireless systems such as implantable biomedical devices. As a consequence, the battery integrated in these systems has also shrunk, resulting in high internal resistances (~10kΩ) ...
As technology continues to evolve, robots are becoming an intrinsic part of our lives. While robots surpass human capabilities in precision and speed, they are far from matching humans' ability to adapt to unexpected changes. Humans can quickly and complia ...
