Now showing items 1-3 of 3
Sampling-based coverage path planning for complex 3D structures
(Massachusetts Institute of Technology, 2012)
Path planning is an essential capability for autonomous robots, and many applications impose challenging constraints alongside the standard requirement of obstacle avoidance. Coverage planning is one such task, in which a ...
Stability and robustness analysis tools for marine robot localization and mapping applications
(Massachusetts Institute of Technology, 2009)
The aim of this analysis is to explore the fundamental stability issues of a robotic vehicle carrying out localization, mapping, and feedback control in a perturbation-filled environment. Motivated by the application of ...
Design and implementation of balance control in a humanoid robot
(Massachusetts Institute of Technology, 2007)
A proportional derivative control strategy was developed for the purpose of achieving balance in a humanoid robot. An artificial muscle model was adapted which modified physiological parameters for the purpose of controlling ...