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

Technical Report On: Towards Reactive Control Of Simplified Legged Robotics Maneuvers, Jeff Duperret, D. E. Koditschek Oct 2017

Technical Report On: Towards Reactive Control Of Simplified Legged Robotics Maneuvers, Jeff Duperret, D. E. Koditschek

Technical Reports (ESE)

This technical report provides proofs and calculations for the paper "Towards Reactive Control of Simplified Legged Robotics Maneuvers," as well as implementation notes and a discussion on robustness.


Design Principles For A Family Of Direct-Drive Legged Robots, Gavin Kenneally, Avik De, Daniel E. Koditschek Jan 2016

Design Principles For A Family Of Direct-Drive Legged Robots, Gavin Kenneally, Avik De, Daniel E. Koditschek

Departmental Papers (ESE)

This letter introduces Minitaur, a dynamically running and leaping quadruped, which represents a novel class of direct-drive (DD) legged robots. We present a methodology that achieves the well-known benefits of DD robot design (transparency, mechanical robustness/efficiency, high-actuation bandwidth, and increased specific power), affording highly energetic behaviors across our family of machines despite severe limitations in specific force. We quantify DD drivetrain benefits using a variety of metrics, compare our machines' performance to previously reported legged platforms, and speculate on the potential broad-reaching value of “transparency” for legged locomotion.

For more information: Kod*lab.


Inexpensive Ultrahigh Vacuum Heatable/Coolable Xyz-Rotary Motion Sample Manipulator, Susan L. Peterson, Kirk H. Schulz, Carl A. Schulz, John M. Vohs Jan 1995

Inexpensive Ultrahigh Vacuum Heatable/Coolable Xyz-Rotary Motion Sample Manipulator, Susan L. Peterson, Kirk H. Schulz, Carl A. Schulz, John M. Vohs

Departmental Papers (CBE)

A simple design for a heatable, coolable, rotable sample manipulator, suitable for ultrahigh vacuum (UHV) applications, is described. Highlights of the design include using a combination power/thermocouple feedthrough for heating, cooling, and temperature measurement; and the use of primarily "off-the-shelf" components available from most UHV components vendors. The described manipulator is capable of sample cooling to ~100 K, sample heating to above 900 K, while maintaining 360o of rotary motion, ~1 in. of x and y motion, and 2 in. of z motion. The apparatus can be assembled for approximately $5500 (all new parts) and uses about 3 ...