ROBOTICS

The group's capabilities in the area of robotics and intelligent machines span the spectrum from basic research—with fundamental development in motion planning, reasoning methodology, and advanced controls—to one-of-a-kind integrated system design, development, test, and evaluation. Major areas of research and development work include mobile robots, advanced manipulators, and combined mobility manipulation systems. Unique developments and capabilities in the area of mobile robotics include sensor-based navigation, human-like reasoning methodologies, advanced mobility mechanisms and systems' designs, and holonomic and non-holonomic motion planning and control. In the area of manipulation systems, the group's staff have developed unique capabilities in designing, integrating, and controlling advanced systems characterized by highly nonlinear dynamics conditions, such as long-aspect ratio arms, dual and coordinated manipulators, and combined high-precision high-payload systems. In the latter area, the group's staff have long-term expertise in design and high-precision control of high-power hydraulic systems. In the area of motion planning and control, non-holonomic systems and kinematic redundancy resolution methods have been prime emphases for manipulators as well as mobile manipulators.