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Full-Text Articles in Operations Research, Systems Engineering and Industrial Engineering

Hierarchically Clustered Navigation Of Distinct Euclidean Partlces, Omur Arslan, Dan P. Guralnik, Yuliy M. Baryshnikov, Daniel E. Koditschek Oct 2012

Hierarchically Clustered Navigation Of Distinct Euclidean Partlces, Omur Arslan, Dan P. Guralnik, Yuliy M. Baryshnikov, Daniel E. Koditschek

Departmental Papers (ESE)

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Standing Self-Manipulation For A Legged Robot, Aaron M. Johnson, G. Clark Haynes, Daniel E. Koditschek Oct 2012

Standing Self-Manipulation For A Legged Robot, Aaron M. Johnson, G. Clark Haynes, Daniel E. Koditschek

Departmental Papers (ESE)

On challenging, uneven terrain a legged robot’s open loop posture will almost inevitably be inefficient, due to uncoordinated support of gravitational loads with coupled internal torques. By reasoning about certain structural properties governing the infinitesimal kinematics of the closed chains arising from a typical stance, we have developed a computationally trivial self-manipulation behavior that can minimize both internal and external torques absent any terrain information. The key to this behavior is a change of basis in torque space that approximates the partially decoupled nature of the two types of disturbances. The new coordinates reveal how to use actuator current ...


Toward A Memory Model For Autonomous Topological Mapping And Navigation: The Case Of Binary Sensors And Discrete Actions, Dan P. Guralnik, Daniel E. Koditschek Oct 2012

Toward A Memory Model For Autonomous Topological Mapping And Navigation: The Case Of Binary Sensors And Discrete Actions, Dan P. Guralnik, Daniel E. Koditschek

Departmental Papers (ESE)

We propose a self-organizing database for per- ceptual experience capable of supporting autonomous goal- directed planning. The main contributions are: (i) a formal demonstration that the database is complex enough in principle to represent the homotopy type of the sensed environment; (ii) some initial steps toward a formal demonstration that the database offers a computationally effective, contractible approximation suitable for motion planning that can be ac- cumulated purely from autonomous sensory experience. The provable properties of an effectively trained data-base exploit certain notions of convexity that have been recently generalized for application to a symbolic (discrete) representation of subset nesting ...


Tail Assisted Dynamic Self Righting, Aaron M. Johnson, Thomas Libby, Evan Chang-Siu, Masayoshi Tomizuka, Robert J. Full, Daniel E. Koditschek Jul 2012

Tail Assisted Dynamic Self Righting, Aaron M. Johnson, Thomas Libby, Evan Chang-Siu, Masayoshi Tomizuka, Robert J. Full, Daniel E. Koditschek

Departmental Papers (ESE)

In this paper we explore the design space of tails intended for self-righting a robot’s body during free fall. Conservation of total angular momentum imposes a dimensionless index of rotational efficacy upon the robot’s kinematic and dynamical parameters whose selection insures that for a given tail rotation, the body rotation will be identical at any size scale. In contrast, the duration of such a body reorientation depends upon the acceleration of the tail relative to the body, and power density of the tail’s actuator must increase with size in order to achieve the same maneuver in the ...


Laboratory On Legs: An Architechture For Adjustable Morphology With Legged Robots, G. Clark Haynes, Jason Pusey, Ryan Knopf, Aaron M. Johnson, Daniel E. Koditschek Apr 2012

Laboratory On Legs: An Architechture For Adjustable Morphology With Legged Robots, G. Clark Haynes, Jason Pusey, Ryan Knopf, Aaron M. Johnson, Daniel E. Koditschek

Departmental Papers (ESE)

For mobile robots, the essential units of actuation, computation, and sensing must be designed to fit within the body of the robot. Additional capabilities will largely depend upon a given activity, and should be easily reconfigurable to maximize the diversity of applications and experiments. To address this issue, we introduce a modular architecture originally developed and tested in the design and implementation of the X-RHex hexapod that allows the robot to operate as a mobile laboratory on legs. In the present paper we will introduce the specification, design and very earliest operational data of Canid, an actively driven compliant-spined quadruped ...


A Bioinspired Dynamical Vertical Climbing Robot, Goran A. Lynch, Jonathan E. Clark, Pei-Chun Lei, Daniel E. Koditschek Jan 2012

A Bioinspired Dynamical Vertical Climbing Robot, Goran A. Lynch, Jonathan E. Clark, Pei-Chun Lei, Daniel E. Koditschek

Departmental Papers (ESE)

This paper describes the inspiration, design, analysis, implementation of and experimentation with the first dynamical vertical climbing robot. Biologists have proposed a pendulous climbing model that abstracts remarkable similarities in dynamic wall scaling behavior exhibited by radically different animal species. We study numerically a version of that pendulous climbing template dynamically re-scaled for applicability to utilitarian payloads with conventional electronics and actuation. This simulation study reveals that the incorporation of passive compliance can compensate for an artifact’s poorer power density and scale disadvantages relative to biology. However the introduction of additional dynamical elements raises new concerns about stability regarding ...


Dynamical Trajectory Replanning For Uncertain Environments, Shai Revzen, B. Deniz Ilhan, Daniel E. Koditschek Jan 2012

Dynamical Trajectory Replanning For Uncertain Environments, Shai Revzen, B. Deniz Ilhan, Daniel E. Koditschek

Departmental Papers (ESE)

We propose a dynamical reference generator equipped with an augmented transient “replanning” subsystem that modulates a feedback controller’s efforts to force a mechanical plant to track the reference signal. The replanner alters the reference generator’s output in the face of unanticipated disturbances that drive up the tracking error. We demonstrate that the new reference generator cannot destabilize the tracker, that tracking errors converge in the absence of disturbance, and that the overall coupled reference-tracker system cannot be destabilized by disturbances of bounded energy. We report the results of simulation studies exploring the performance of this new design applied ...


Holistically Evaluating Agent Based Social System Models, Gnana K. Bharathy, Barry G. Silverman Jan 2012

Holistically Evaluating Agent Based Social System Models, Gnana K. Bharathy, Barry G. Silverman

Departmental Papers (ESE)

The philosophical perspectives on model evaluation can be broadly classified into reductionist/logical positivist and relativist/holistic. In this paper, we outline some of our past efforts in, and challenges faced during, evaluating models of social systems with cognitively detailed agents. Owing to richness in the model, we argue that the holistic approach and consequent continuous improvement are essential to evaluating complex social system models such as these. A social system built primarily of cognitively detailed agents can provide multiple levels of correspondence, both at observable and abstract aggregated levels. Such a system can also pose several challenges, including large ...