Browsing by Author "Iagnemma, Karl"
Now showing items 1-19 of 19
-
An Architecture for Online Affordance-based Perception and Whole-body Planning
(Wiley Blackwell, 2014-10)The DARPA Robotics Challenge Trials held in December 2013 provided a landmark demonstration of dexterous mobile robots executing a variety of tasks aided by a remote human operator using only data from the robot's sensor ... -
Basic running test of the cylindrical tracked vehicle with sideways mobility
(Institute of Electrical and Electronics Engineers, 2009-12)In this paper, the basic running performance of the cylindrical tracked vehicle with sideways mobility is presented. The crawler mechanism is of circular cross-section and has active rolling axes at the center of the ... -
Design and analysis of a soft mobile robot composed of multiple thermally activated joints driven by a single actuator
(Institute of Electrical and Electronics Engineers (IEEE), 2010-05)Soft robotic systems have applications in industrial, medical, and security applications. Many applications require these robots to be small and lightweight. One challenge in developing a soft robotic system is to drive ... -
Dynamic Sealing Using Magnetorheological Fluids
(American Physical Society, 2018-12)Micropumps are microfluidic components that are widely used in applications such as chemical analysis, biological sensing, and microrobots. However, one obstacle in developing micropumps is the extremely low efficiency ... -
General scaling relations for locomotion in granular media
(American Physical Society (APS), 2017-06)Inspired by dynamic similarity in fluid systems, we have derived a general dimensionless form for locomotion in granular materials, which is validated in experiments and discrete element method (DEM) simulations. The form ... -
Ground Plane Identification Using LIDAR in Forested
(Institute of Electrical and Electronics Engineers, 2010-05)To operate autonomously in forested environments, unmanned ground vehicles (UGVs) must be able to identify the load-bearing surface of the terrain (i.e. the ground). This paper presents a novel two-stage approach for ... -
An Interactive, physics-based unmanned ground vehicle simulator leveraging open source gaming technology: Progress in the development and application of the virtual autonomous navigation environment (VANE) desktop
(SPIE, 2009-04)It is widely recognized that simulation is pivotal to vehicle development, whether manned or unmanned. There are few dedicated choices, however, for those wishing to perform realistic, end-to-end simulations of unmanned ... -
Modeling of the interaction of rigid wheels with dry granular media
(Elsevier BV, 2019)© 2019 We analyze the capabilities of various recently developed techniques, namely granular Resistive Force Theory (RFT) and continuum plasticity implemented with the Material Point Method (MPM), in capturing dynamics of ... -
A multi-element generalized polynomial chaos approach to analysis of mobile robot dynamics under uncertainty
(Institute of Electrical and Electronics Engineers, 2009-12)The ability of mobile robots to quickly and accurately analyze their dynamics is critical to their safety and efficient operation. In field conditions, significant uncertainty is associated with terrain and/or vehicle ... -
Optimal motion planning with the half-car dynamical model for autonomous high-speed driving
(Institute of Electrical and Electronics Engineers (IEEE), 2013-06)We discuss an implementation of the RRT* optimal motion planning algorithm for the half-car dynamical model to enable autonomous high-speed driving. To develop fast solutions of the associated local steering problem, we ... -
Predictable mobility
(Institute of Electrical and Electronics Engineers, 2009-12)In this article, a statistical mobility prediction for planetary surface exploration rovers has been described. This method explicitly considers uncertainty of the terrain physical parameters via SRSM and employs models ... -
Predictable Mobility: A Statistical Approach for Planetary Surface Exploration Rovers in Uncertain Terrain
(Institute of Electrical and Electronics Engineers, 2009-12)In this article, a statistical mobility prediction for planetary surface exploration rovers has been described. This method explicitly considers uncertainty of the terrain physical parameters via SRSM and employs models ... -
Reactive control in environments with hard and soft hazards
(Institute of Electrical and Electronics Engineers (IEEE), 2012-10)In this paper we present a generalization of reactive obstacle avoidance algorithms for mobile robots operating among soft hazards such as off-road slopes and deformable terrain. A new hazard avoidance scheme generalizes ... -
Stabilizing a Vehicle near Rollover: An Analogy to Cart-Pole
(Institute of Electrical and Electronics Engineers, 2010-07)An analogy between the dynamics of a cart-pole system and vehicle rollover dynamics is used to derive a controller for tipping up and stabilizing a planar model of a passenger vehicle near rollover by controlling lateral ... -
A Stiffness-Adjustable Hyperredundant Manipulator Using a Variable Neutral-Line Mechanism for Minimally Invasive Surgery
(Institute of Electrical and Electronics Engineers (IEEE), 2014-04)In robotic single-port surgery, it is desirable for a manipulator to exhibit the property of variable stiffness. Small-port incisions may require both high flexibility of the manipulator for safety purposes, as well as ... -
Stochastic mobility prediction of ground vehicles over large spatial regions: a geostatistical approach
(Springer US, 2016-01)This paper describes a stochastic approach to vehicle mobility prediction over large spatial regions [>5×5 (km[superscript 2])]. The main source of uncertainty considered in this work derives from uncertainty in terrain ... -
Stochastic mobility-based path planning in uncertain environments
(Institute of Electrical and Electronics Engineers, 2009-12)The ability of mobile robots to generate feasible trajectories online is an important requirement for their autonomous operation in unstructured environments. Many path generation techniques focus on generation of time- ... -
Throwable tetrahedral robot with transformation capability
(Institute of Electrical and Electronics Engineers, 2009-12)In this paper, a tetrahedral mobile robot with central axis for transformation to the flat vehicle is presented. The throwable robot with the function of going into narrow spaces when its in the flat-vehicle mode is explained ... -
A unified approach to semi-autonomous control of passenger vehicles in hazard avoidance scenarios
(Institute of Electrical and Electronics Engineers, 2009-10)This paper describes the design of unified active safety framework that combines trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles into a single constrained-optimal-control-based ...
