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Robotics
and Energetic Systems Group
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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. |
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The group is also pursuing R&D activities in 3-D assembly of micro-machines to replace the current assembly techniques by hand under a microscope. Activities and capabilities include analytical and experimental test beds to explore the fundamental mechanics of micro assembly, explore novel assembly methodologies to replace at the micro-scale those of the macro-scale that are not suitable, and experimentally study the overall assembly behavior in the micro-world. |
Sample of the Group's Projects/Technologies
Cooperative Visual Servo Control for Robotic Manipulators
Force Reflecting Micro-Teleoperation with Haptic Feedback
Smart Tooling: A New Approach to Remote Operations
Technology Fact Sheets
Highly Dexterous and Compact Manipulation / PDF format
Ship Motion Simulation Platform (SMSP) / PDF format
High Payload Holonomic Omnidirectional Mobility Based on an Off-Center In-Line Omnidirectional Wheel (OCILOW) Topology / PDF format
Real-Time Robust Fault Detection and Isolation / PDF format
Energy Efficient Hydraulics Through Quasi-Hydrostatic Control / PDF format
Controls Modeling and Simulation (Virtual Prototyping) / PDF format
Enabling Remote Operations in a High Temperature Environment / PDF format
Controls for Micro-Manipulation Systems / PDF format
Motion Planning for Non-Holonomic Wheeled Vehicles / PDF format
Automated Inverse Kinematics and Motion Planning of Robotic Systems with Time-Varying Constraints, Objectives, and Configurations / PDF format
Force-Torque Sensor Technology / PDF format
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Last updated: May 1, 2008