—An omnidirectional mobile robot is able, kinematically, to move in any planar direction regardless of current pose. To date, nearly all designs and analyses of omnidirectional r...
: Several species of animals use whiskers to accurately navigate and explore objects in the absence of vision. We have developed inexpensive arrays of artificial whiskers based on ...
Aimee Schultz, Joseph Solomon, Michael A. Peshkin,...
Abstract— In this paper, we explore the capabilities of actuated models of the compass gait walker on rough terrain. We solve for the optimal high-level feedback policy to negoti...
An algorithm is presented for wheeled mobile robot trajectory generation that achieves a high degree of generality and efficiency. The generality derives from numerical lineariza...