Abstract: Conventional mobile robots have difficulty navigating highly unstructured spaces such as caves and forests. In these environments, a highly extendable limb could be useful for deploying hooks to climb over terrain, or for ...

Abstract: This work presents a novel motion planning framework, rooted in nonlinear programming theory, that treats uncertain fully and underactuated dynamical systems described by ordinary differential equations. Uncertainty in ...

Abstract: In concurrent work, we introduced a novel robotic package delivery system latching intelligent modular mobility system (LIMMS). Each LIMMS end effector requires a small, lightweight latching mechanism for pre-manufactured ...