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09/06/2022
Passive Realizations of Series Elastic Actuation: Passivity and Effects of Plant and Controller Dynamics on Haptic Rendering Performance
We establish the necessary and sufficient conditions for the frequency d...
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09/30/2021
Simulation-based multi-criteria comparison of mono-articular and bi-articular exoskeletons during walking with and without load
Developing exoskeletons that can reduce the metabolic cost of assisted s...
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11/02/2020
Stability and Transparency in Series Elastic Actuation: A Two-Port Analysis
Series Elastic Actuation (SEA) is a widely-used approach for interaction...
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09/22/2020
Dynamic Multi-Agent Path Finding based on Conflict Resolution using Answer Set Programming
We study a dynamic version of multi-agent path finding problem (called D...
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08/08/2020
Human Robot Collaborative Assembly Planning: An Answer Set Programming Approach
For planning an assembly of a product from a given set of parts, robots ...
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06/19/2020
A Computational Multi-Criteria Optimization Approach to Controller Design for Physical Human-Robot Interaction
Physical human-robot interaction (pHRI) integrates the benefits of human...
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10/28/2019
Design, Implementation and Evaluation of a Variable Stiffness Transradial Hand Prosthesis
We present the design, implementation, and experimental evaluation of a ...
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10/06/2019
Efficacy of Haptic Pedal Feel Compensation on Driving with Regenerative Braking
We study the efficacy of haptic pedal feel compensation on driving safet...
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06/20/2019
Object Placement on Cluttered Surfaces: A Nested Local Search Approach
For planning rearrangements of objects in a clutter, it is required to k...
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03/02/2019
A Formal Framework for Robot Construction Problems: A Hybrid Planning Approach
We study robot construction problems where multiple autonomous robots re...
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02/27/2019
Necessary and Sufficient Conditions for Passivity of Velocity-Sourced Impedance Control of Series Elastic Actuators
Series Elastic Actuation (SEA) has become prevalent in applications invo...
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07/19/2017
Hybrid Conditional Planning using Answer Set Programming
We introduce a parallel offline algorithm for computing hybrid condition...
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07/29/2013
ReAct! An Interactive Tool for Hybrid Planning in Robotics
We present ReAct!, an interactive tool for high-level reasoning for cogn...
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07/29/2013
Integration of 3D Object Recognition and Planning for Robotic Manipulation: A Preliminary Report
We investigate different approaches to integrating object recognition an...
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07/29/2013