Abstract: This research investigates using a manipulator to tactilely explore objects and environments when significant backlash affects its joint’s positions. A typical application is the exploration of ...

Abstract: This paper presents the design of a new lightweight, hyper-redundant, deployable Binary Robotic Articulated Intelligent Device (BRAID), for space robotic systems. The BRAID is intended to meet ...

Abstract: A simplified Cartesian computed torque (SCCT) control scheme and its application to an experimental climbing robot named LIBRA is presented. SCCT control is developed exploiting some of the ...

Abstract: Long reach manipulator systems (LRMS) can perform tasks in difficult to reach locations. They use a small and fast manipulator mounted on a large flexible structure that can vibrate, degrading ...

Abstract: An omni-directional mobility platform design concept using two active split offset castors (ASOC) and one or more conventional castors is presented. An ASOC module consists of two coaxial ...

Abstract: Parabolic concentrator mirrors are an important component of many solar energy systems, particularly solar mirror collectors. Precision parabolic mirrors are expensive to fabricate and to transport. ...