Skip to main content

Research Repository

See what's under the surface


Development of a dynamics model for the Baxter robot (2016)
Conference Proceeding
Smith, A., Yang, C., Li, C., Ma, H., & Zhao, L. (2016). Development of a dynamics model for the Baxter robot. https://doi.org/10.1109/ICMA.2016.7558740

© 2016 IEEE. The dynamics model of a robot is important to find the relation between the joint actuator torques and the resulting motion. There are two common methods to do this: The Lagrange formulation, which gives a closed form of the dynamics equ... Read More about Development of a dynamics model for the Baxter robot.

Novel hybrid adaptive controller for manipulation in complex perturbation environments (2015)
Journal Article
Smith, A. M. C., Yang, C., Ma, H., Culverhouse, P., Cangelosi, A., & Burdet, E. (2015). Novel hybrid adaptive controller for manipulation in complex perturbation environments. PLoS ONE, 10(6), e0129281. https://doi.org/10.1371/journal.pone.0129281

© 2015 Smith et al. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are cred... Read More about Novel hybrid adaptive controller for manipulation in complex perturbation environments.

Dual adaptive control of bimanual manipulation with online fuzzy parameter tuning (2014)
Conference Proceeding
Smith, A., Yang, C., Ma, H., Culverhouse, P., Cangelosi, A., & Burdet, E. (2014). Dual adaptive control of bimanual manipulation with online fuzzy parameter tuning. https://doi.org/10.1109/ISIC.2014.6967605

© 2014 IEEE. A biomimetic controller with online adaptation of impedance and force is applied to a full kinematic and dynamic model of the Baxter bimanual robot. A set of fuzzy logic engines are proposed to infer the values of tuning gains which affe... Read More about Dual adaptive control of bimanual manipulation with online fuzzy parameter tuning.