Zobrazeno 1 - 10
of 19
pro vyhledávání: '"Umashankar Nagarajan"'
Autor:
John Leichty, Max Bajracharya, Krishna Shankar, Thomas Kollar, Daniel Helmick, J. Borders, Kevin Stone, Josh Petersen, Michael Laskey, Umashankar Nagarajan, Jeremy Ma, Akiyoshi Ochiai, Yutaka Takaoka
Publikováno v:
ICRA
We describe a mobile manipulation hardware and software system capable of autonomously performing complex human-level tasks in real homes, after being taught the task with a single demonstration from a person in virtual reality. This is enabled by a
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::605f03a07bd4bee536771c5688f66467
Publikováno v:
Autonomous Robots. 40:701-728
We present a method for lower-limb exoskeleton control that defines assistance as a desired dynamic response for the human leg. Wearing the exoskeleton can be seen as replacing the leg's natural admittance with the equivalent admittance of the couple
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::1c888b206e9805ad4119873c37c39470
https://doi.org/10.1007/s10514-015-9490-8
https://doi.org/10.1007/s10514-015-9490-8
Autor:
Ambarish Goswami, Umashankar Nagarajan
Publikováno v:
SAE International Journal of Passenger Cars - Mechanical Systems. 8:606-613
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::bab683fe4a7d4a5ca45b37c0ba13bfdd
https://doi.org/10.4271/2015-01-1400
https://doi.org/10.4271/2015-01-1400
Autor:
Umashankar Nagarajan, Katsu Yamane
Publikováno v:
IEEE Transactions on Robotics. 30:1234-1241
This paper studies the balancing of simple planar bipedal robot models in dynamic, unstable environments like seesaw, bongoboard and board on a curved floor. This paper derives output feedback controllers that successfully stabilize seesaw, bongoboar
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::81b12b4a56e6b140813e2d1b3202890a
https://doi.org/10.1109/tro.2014.2320797
https://doi.org/10.1109/tro.2014.2320797
Publikováno v:
The International Journal of Robotics Research. 33:917-930
The ballbot is a human-sized dynamically stable mobile robot that balances on a single ball. Unlike statically stable mobile robots, the ballbot is tall and narrow with a high center of gravity and a small footprint. Moreover, its dynamic stability e
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::3ad03c624bad655b2e2c9e7a85e881ab
https://doi.org/10.1177/0278364913509126
https://doi.org/10.1177/0278364913509126
Autor:
Ralph L. Hollis, Umashankar Nagarajan
Publikováno v:
The International Journal of Robotics Research. 32:1323-1341
This paper introduces shape-accelerated balancing systems as a special class of underactuated systems wherein their shape configurations can be mapped to the accelerations in the position space. These systems are destabilized by gravitational forces
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::1df93b89e95253953a4200fda658de70
https://doi.org/10.1177/0278364913495424
https://doi.org/10.1177/0278364913495424
Publikováno v:
The International Journal of Robotics Research. 32:1005-1029
This paper presents an integrated motion planning and control framework that enables balancing mobile robots to gracefully navigate human environments. A palette of controllers called motion policies is designed such that balancing mobile robots can
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::bed9d16ddb50220ca56c88f624a9b3ce
https://doi.org/10.1177/0278364913488011
https://doi.org/10.1177/0278364913488011
Autor:
KangKang Yin, Shivaram Kalyanakrishnan, Umashankar Nagarajan, Seung-kook Yun, Ambarish Goswami, Sung-Hee Lee
Publikováno v:
Autonomous Robots. 36:199-223
Humanoid robots are expected to share human environments in the future and it is important to ensure the safety of their operation. A serious threat to safety is the fall of such robots, which can seriously damage the robot itself as well as objects
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::9d46e8ec9cafb9fbad68a43e05d158f8
https://doi.org/10.1007/s10514-013-9343-2
https://doi.org/10.1007/s10514-013-9343-2
Current strategies for lower-limb exoskeleton control include motion intent estimation, which is subject to inaccuracies in muscle torque estimation as well as modeling error. Approaches that rely on the phases of a uniform gait cycle have proven eff
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::90ec2ee67a7f4c48f97d955a901efbf1
https://hdl.handle.net/10453/37489
https://hdl.handle.net/10453/37489
Publikováno v:
ICRA
A wide variety of strategies have been developed for assisting human locomotion using powered exoskeletons. Although these strategies differ in their aims as well as the control methods employed, they have the implicit property of causing a virtual m
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::fdb952b3e16b96eb633a6dff6dfc0ea9
https://doi.org/10.1109/icra.2015.7139989
https://doi.org/10.1109/icra.2015.7139989