A miniaturized, smart nuero-prosthesis suitable for implanting into a brain
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neuro prosthesis↗
Engineering topics
Burdick, J.
Publications and source records attributed to Burdick, J..
Hopper on wheels: evolving the hopping robot concept
This paper describes the evolution of our concept of hopping robot for planetary exploration, that combines coarse long range mobility achieved by hopping, with short range wheeled mobility for precision target acquisition.
planetary exploration planetary robots nanorover h↗
A Mininally Actuated Hopping Rover for Exploration of Celestial Bodies
This paper describes a minimalist hopping robot that can perform basic exploration tasks on Mars or other moderate gravity bodies.
planetary rovers planetary exploration hoppy rover↗
Long Range Navigation For Mars Rovers Using Sensor-Based Path Planning and Visual Localisation
The Mars Pathfinder mission illustrated the benefits of including a mobile robotic explorer on a plantary mission.
Mars↗
An Autonomous Sensor-Based Path-Planner for Planetary Microrovers
With the success of Mars Pathfinder's Sojourner rover, a new era of planetary exploration has opened, with demand for highly capable mobile robots.
Mars↗
An Autonomous Path Planner Implemented on the Rocky7 Prototype Microrover
Much prior work in mobile robot path planning has been based on assumptions that are not really applicable for exploration of planetary terrains.
planetary terrains Rocky7 Prototype Microrover Aut↗
Terminal Repeller Unconstrained Subenergy Tunneling (TRUST) for Fast Global Optimization
A new method for unconstrained global function optimization, acronymed TRUST, is introduced.
terminal repellers subenergy tunneling function ar↗
Characterization and control of self-motions in redundant manipulators
The presence of redundant degrees of freedom in a manipulator structure leads to a physical phenomenon known as a self-motion, which is a continuous motion of the manipulator joints that leaves the end-effector motionless. In the first part of the paper, a global manifold mapping reformulation of manipulator kinematics is reviewed, and the inverse kinematic solution for redundant manipulators is developed in terms of self-motion manifolds. Global characterizations of the self-motion manifolds in terms of their number, geometry, homotopy class, and null space are reviewed using examples. Much previous work in redundant manipulator control has been concerned with the redundancy resolution problem, in which methods are developed to determine, or resolve, the motion of the joints in order to achieve end-effector trajectory control while optimizing additional objective functions. Redundancy resolution problems can be equivalently posed as the control of self-motions. Alternatives for redundancy resolution are briefly discussed.
Burdick, J.↗