Browsing by Author "Waldron Kenneth"

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Browsing by Author "Waldron Kenneth"

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  • Attitude Estimation for Dynamic Legged Locomotion Using Range and Inertial Sensors 
    Singh Surya; Waldron Kenneth (IEEE, 2005)
    Legged robots offer exceptional mobility in uncharted terrains. Their dynamic nature yields unrivaled mobility, but serves to destabilize the motion estimation process that underlies legged operations. In particular, the ...
  • Biomimetic Leg Design for Untethered Quadruped Gallop 
    Nichol J; Waldron Kenneth (Professional Engineering Publishing, 2002)
    Although there has been considerable work on artificial implementations of dynamic legged locomotion using various gaits, there has been little work on the gallop gaits. Ohio State (OSU) and Stanford Universities are ...
  • Characterization of an electric-pneumatic hybrid prismatic actuator 
    Csonka Paul; Waldron Kenneth (ASME International, 2010)
    Many high performance actuators have been developed in recent years. However, these actuators are generally designed for precise, relatively slow movements, or imprecise dynamic motion, but incapable of generating quasistatic ...
  • Configuration design of a robotic vehicle for rough terrain mobility 
    Waldron Kenneth; Tran Thanh; Madadnia Jafar (Inderscience Publishers, 2010)
    In this paper, we describe the motivation for building a six-wheeled robotic vehicle with active suspension to test mobility improvement concepts on rough terrain. The vehicle is being designed and constructed as a final ...
  • Control Modes for a Three-Dimensional Galloping Machine 
    Waldron Kenneth; Kallem Vinutha (ASME, 2004)
    A set of relationships are developed to estimate the effects of control inputs on different axes of a galloping machine. It is demonstrated that control must be approached on a stride cycle basis to avoid serious cross-coupling ...
  • Coordination of an Unmanned Vehicle with Active Suspension Over Extreme Terrain 
    Waldron Kenneth; Abdallah Muhammad (SPIE, 2004)
    Active suspension is now a well-tried technology in road vehicles. It has been installed on a HMMV and demonstrated to significantly improve performance in rough road conditions. This capability presents an opportunity for ...
  • Design and Evaluation of an Integrated Planar Localization Method for Desktop Robotics 
    Singh Surya; Waldron Kenneth (IEEE, 2004)
    Localization and measurement of displacement are critical aspects to the operation and control of mobile robots. The motion of desktop robots, a class of mobile robots designed for use on a table, can be considered a special ...
  • Design of a Leg System for Quadruped Gallop 
    Nichol J; Palmer Luther; Waldron Kenneth (China Machine Press, 2004)
    Ohio State (OSU) and Stanford Universities are cooperating to understand quadruped galloping through the design of a self-contained, biomimetic, galloping robot. The leg for this quadruped was first designed at Ohio State ...
  • Design of an agile unmanned combat vehicle: a product of the DARPA UGCV program 
    Thornhill Lindsey; Walls Alan; Arkin Ronald; Beno J; Bergh C; Bresie D; Giovannetti A; Gothard B; Matthies L; Nogueiro P; Scanlon J; Scott R; Simon M; Smith W; Waldron Kenneth (SPIE, 2003)
    The unmanned ground combat vehicle (UGCV) design evolved by the SAIC team on the DARPA UGCV Program is summarized in this paper. This UGCV design provides exceptional performance against all of the program metrics and ...
  • Electro/Magneto-Sensitive Elastomers and Lagrangian Electro/Magneto-Statics 
    Vertechy R; Castelli V; Waldron Kenneth (Chiang Mai University, Faculty of Science, 2004)
    NA
  • GL-Link: A Novel Telerobotics-based Platform Supporting Distributed Mechatronic Research via the Internet 
    Singh Surya; Waldron Kenneth (ASME, 2003)
    Mechatronics and robotics research efforts of large complexity are increasingly interdisciplinary involving collaboration between software, hardware, controls, and scientific teams. Traditionally, the level of integration ...
  • Intelligent Control of an Experimental Articulated Leg for a Galloping Machine 
    Palmer Luther; Orin David; Marhefka Duane; Schmiedeler James; Waldron Kenneth (IEEE, 2003)
    Intelligent controllers are being used with increasing effectiveness on complex systems. This work verifies the effectiveness of fuzzy control, an intelligent method, on a single, articulated-leg that was designed to be ...
  • Intelligent Control of Quadruped Gallops 
    Marhefka Duane; Orin David; Schmiedeler James; Waldron Kenneth (Institute of Electrical and Electronics Engineers, 2003)
    In this paper, a new intelligent control approach for high-speed quadruped bounding and galloping gaits is presented. The controller is capable of learning the leg touchdown angles and leg thrusts required to track the ...
  • Investigation of Reducing Fatigue and Musculoskeletal Disorder with Passive Actuators 
    Carmichael Marc; Liu Dikai; Waldron Kenneth (IEEE, 2010)
    Robotic systems such as exoskeletons can be effectively used in the reduction of fatigue and musculoskeletal disorders (MSD) associated with physical tasks, but robots which work in physical contact with humans pose problems ...
  • Mechanical Characterization of the Immersion Corp. Haptic, Bimanual, Surgical Simulator Interface 
    Waldron Kenneth; Tollon K (IEEE, 2003)
    In this paper the design of a bimanual haptic interface device for simulation of minimally invasive surgical procedures is described. Each of the two handles has five haptic degrees of freedom. The workspace of the device ...
  • On the Driving Circuits of Electro-Sensitive Elastomers 
    Vertechy R; Castelli V; Waldron Kenneth (Actuator 2006, 2006)
    In the last decade, Electro-Sensitive Elastomers (ESE) with significant electro-mechanical response have been discovered. These polymers are the candidate materials for the construction of solid-state actuators and sensors. ...
  • Optical Flow Aided Motion Estimation for Legged Locomotion 
    Singh Surya; Csonka Paul; Waldron Kenneth (IEEE, 2006)
    Dynamic legged locomotion entails navigating terrain at high speed. The impact shocks from rapid footfalls, pivotal for such mobility, introduce large impulses that saturate motion measurement. A biomimetic approach is ...
  • An Optimal Traction Control Scheme for Off-Road Operation of Robotic Vehicles 
    Waldron Kenneth; Abdallah Muhammad (Institute of Electrical and Electronics Engineers, 2007)
    Active degrees of freedom provide a robotic vehicle the ability to enhance its performance in all terrain conditions. While active suspension systems are now commonplace in on-road vehicles, their application to off-road ...
  • Passively stable hopping of an articulated leg with a tendon-coupled ankle 
    Csonka Paul; Perkins Ad; Waldron Kenneth (IEEE, 2010)
    Dynamic maneuvers have been successfully implemented on many prismatic legged robots. Systems with articulated legs of significant relative mass pose more of a challenge in part due to the physics of thrusting with rotating ...
  • Proprioceptive Control for a Robotic Vehicle Over Geometric Obstacles 
    Waldron Kenneth; Arkin R; Bakkum D; Merrill E; Abdullah M (IEEE, 2003)
    In this paper we describe a software system built to coordinate an autonomous vehicle with variable configuration ability operating in rough terrain conditions. The paper describes the system architecture, with an emphasis ...