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Model-based control methods such as control Lyapunov and control barrier functions can provide formal guarantees of stability and safety for dynamic legged locomotion, given a precise model of the…

Traditional robotic manipulators are constructed from rigid links and localized joints, which enables large forces and workspaces but creates challenges for safe and comfortable interaction with the…

The demand for robots that can work in close proximity and interact physically with humans has been increasing. Currently, there are robots in airports, restaurants, and amusement parks that guide,…

Motion is all around us. Motion is particularly interesting when it has many degrees of freedom. This talk covers the design, sensing, and planning for snake, multi-agent and modular robot high DOF…

Autonomous robots have the incredible potential to aid people by taking on difficult tasks and working alongside us. However, it will be difficult to trust robots in widespread deployment without…

Compared to vision, the complementary sense of touch has yet to be broadly integrated into robotic systems that physically interact with the world. An artificial sense of touch is especially useful…

This talk presents a framework based on robust control theory to aid in the certification process of unmanned aircraft system (UAS) flight controllers. Uncertainties are characterized and quantified…

Contact interactions are pervasive in key real-world robotic tasks like manipulation and walking. However, the non-smooth dynamics associated with impacts and friction remain challenging to model,…

Who would want to make a mobile robot that has only a single spherical wheel? Well, I did! My talk will trace the development of the first successful “ballbot,” beginning in 2004. Now,…

In this talk I will describe how formal methods such as synthesis – automatically creating a system from a formal specification – can be leveraged to design robots, guarantee their…

The ability of a system to correctly respond to a sudden adverse event is critical for high-level autonomy in complex, changing, or remote environments. By assuming continuing structural knowledge…

Musculoskeletal biomechanics research has provided numerous important insights into human movement that inform the design of assistive devices. These devices have the potential to retore or…

Robot manipulators are increasingly deployed outside of carefully controlled factory settings. Advances in robot motion planning have made it possible to compute feasible motions for more complex…

Human-generated, preventable errors, particularly those made intra-operatively, can lead to morbidity and mortality for thepatient poor training outcomes for residents, and high costs for the…