Two-DOF Robot Arm
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Robotic Manipulator Design and Control
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Here robotic manipulator dynamics are studied. This mainly
involves characterizing the force and acceleration capabilities of
robotic manipulators. These capabilities refer to a manipulator's
ability to accelerate its end-effector and to apply forces to the
environment at the end-effector. These abilities determine a
mechanism's ability to manipulate grasped and non-grasped objects.
Performance measures and design methodologies based on this
characterization are also developed.
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Bouncing Bicycle
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Hybrid Dynamic Simulation
Daniel Montrallo Flickinger
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In hybrid dynamic simulation, discrete and continuous events are
combined in order to predict a system's motion. Currently this work
focuses on the simulation of simultaneous impact and contact while
considering energy consistency and Coulomb friction. Many different
types of systems experiencing discrete events can be modeled
using this approach. One of the applications for this project is
analysis of simultaneous impact and contact in agile locomotion.
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Latest hybrid simulation videos. |
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Daniel Montrallo Flickinger and Alan Bowling.
Simultaneous oblique impacts and contacts
in multibody systems with friction. Multibody System
Dynamics, accepted for publication.
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Daniel Montrallo Flickinger and Alan Bowling.
Impact forces in the simulation of
simultaneous impacts and contacts in multibody systems with
friction. Proceedings of the IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS), pages 3398-3403,
October 2009. St. Louis, Missouri, USA.
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Alan Bowling, Daniel Montrallo Flickinger, and Sean Harmeyer.
Energetically consistent simulation of
simultaneous impacts and contacts for multibody systems with friction.
Multibody System Dynamics, vol. 22, no. 1, pages 27-45, August 2009.
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http://sparkleberrysprings.com/innerlifeofcell.html
Kinesin Intracellular Transport
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Motor Protein Locomotion
Mahdi Haghshenas
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Motor proteins are involved in a number of biological processes within
the cells and tissues of biological systems. They exist in several
different forms and are involved in muscle contraction, construction
and deconstruction of the cytoskeleton, and intracellular transport.
The proteins currently being examined have a biped structure and walk
along the cytoskeleton pulling organelles and nutrient packets along
as cargo: the picture to the left depicts kinesin in this role. These
proteins have a size on the order of nanometers so it difficult to
observe their dynamic behavior. Modeling and simulation can be used
to attempt a prediction of the details of motor protein dynamic
behavior that are difficult to observe. This work involves the
development of a new approach towards modeling and simulating the
locomotion of these proteins.
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Latest motor protein videos. |
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Alan Bowling, Andre Palmer, and Lauren Wilhelm.
Contact and impact in the multibody dynamics of motor protein locomotion.
Langmuir, vol. 25, no. 22, pages 12974-12981, November 2009.
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Alan Bowling and Andre Palmer.
The small mass assumption applied to the multibody dynamics of motor proteins.
Journal of Biomechanics, vol. 42, no. 9, pages 1218-1223, June 2009.
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The latest hexapod.
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Design of Agile Legged Robots
Ashwin Balasubramanian, Ramya Lingam, Richard Margolin, Ryan Robertson, Adrian Rodriguez, Michael Russell, Micheal Tadros, Xi Sun
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This project involves the development of new design methodologies for
producing agile legged locomotion systems. Legged systems
utilize contact and impact forces in order to locomote through the
environment. One goal of this work is to develop a performance
analysis which includes these forces and tells how well a legged
system can utilize ground contact to accelerate itself. This analysis
will form the basis for new design methodologies. A key element in
this type of performance-based design is that the performance is
described in terms of functions which are nonlinear in the variables
of interest particularly configuration variables. Statistical
optimization techniques are being explored which can address these
nonlinearities allowing one to quantify performance over the robot's
workspace without exhaustive sampling of the configuration space.
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Videos of the new leg design jumping. |
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Alan Bowling.
Impact forces and agility in legged robot locomotion. Journal
of Vibration and Control, in press.
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Alan Bowling.
Mass distribution effects on dynamic
performance of a cable-driven hexapod. ASME Journal of
Mechanical Design, vol. 129, no. 8, pages 887-890, August 2007.
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Pedro Bergés and Alan Bowling.
Rebound, slip, and compliance in the
modeling and analysis of discrete impacts in legged locomotion.
Journal of Vibration and Control, vol. 12, no. 12, pages
1407-1430, December 2006.
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Alan Bowling.
Dynamic performance, mobility, and agility of multi-legged robots.
ASME Journal of Dynamic Systems, Measurement, and Control, vol. 128, no. 4, pages 765-777, December 2006.
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HERACLEIA
Human-Centered Computing Lab
Assisted Living Apartment
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Performance Analysis and Simulation
of Assisted Living Systems
Micheal Tadros
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Quality-of-life can be enhanced if people can retain most of their
independence as they get older. However, many elderly people need
some assistance in order to live, for the most part, on their own.
These types of systems involve monitoring elements, and can also
involve response elements. The monitoring element attempts to analyze
the patient's motion and behavior in order to determine whether an
intervention is required. If required, the system can notify a
monitor that assistance is needed, or robots can be used to respond in
certain situations. Current work in this area involves developing a
simulation and analysis tool to aid in the development of this type of
an assistive living system. This work involves the formulation of a
performance analysis which allows the system to predict injury. It
also involves the development of a simulation for this type of system.
A third aspect involves the development of robots to aid in the
responding in those situations where they can have a positive impact
on the situation.
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Alan Bowling and Eric Olson.
Human-robot team dynamic performance in
assisted living environments. Proceedings of the
International Conference on Pervasive Technologies Related to
Assistive Environments (PETRA), June 2009, Corfu, Greece, accepted for publication.
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Alan Bowling, Zhengyi Le, and Fillia Makedon.
SAL: A simulation and analysis tool for
assistive living environments. Proceedings of the
International Conference on Pervasive Technologies Related to
Assistive Environments (PETRA), June 2009, Corfu, Greece, accepted for publication.
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We can dream can't we?
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Motion Control for Agile Legged Robots
Ashwin Balasubramanian, Daniel Montrallo Flickinger, George Teng, Xi Sun
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This project involves the development of methodologies for
autonomously producing stable periodic and nonperiodic motions for
legged robots. The periodic motions are often referred to as gait
motions while the aperiodic motions are referred to as agile motions.
In both cases, the goal is to generate these motions autonomously
without the use of motion primitives or any other predefined motions.
The effort is to identify general motion principles for legged
locomotion, from examination of the equations of motion, upon which a
control algorithm can be based. This work also involves studying the
integration and fusion of sensor information in order to provide
adequate feedback to the control for producing stable locomotion.
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Agile locomotion of a planar quadruped. |
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Yanto Go, Xiaolei Yin, and Alan Bowling.
Navigability of multi-legged robots.
IEEE/ASME Transactions on Mechatronics, vol. 11, no. 1, pages 1-8, February 2006.
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Sean Harmeyer and Alan Bowling.
Autonomous gait generation using acceleration
capability analysis.
Proceedings of the IEEE/RSJ
International Conference on Intelligent Robots and Systems (IROS), vol. 3,
pages 2127-2133, August 2005. Edmonton, Alberta, Canada.
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Cable-Driven Leg.
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Performance Analysis of Flexible Systems
Ryan Robertson
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In this work, the effect on performance resulting from the mass
properties of flexible components in a robotic system is studied.
Cable-driven robotic manipulators are of particular interest
here, with a goal of determining the conditions under which the cables
will yield. These conditions impose a limit on the performance of the
system and this project is concerned with determining those
limitations. The long term goal is to incorporate other sources of
flexibilities into the analysis such as link and joint flexibilities.
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Videos of the new leg design jumping. |
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Xiaolei Yin and Alan Bowling.
Dynamic performance
limitations due to yielding in cable-driven robotic manipulators.
ASME Journal of Mechanical Design, vol. 128, no. 1, pages 311-318, January 2006.
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http://commons.wikimedia.org/wiki/File:Fibroblast.jpg
Mouse Embryo Fibroblast
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Fibroblast Locomotion
Ryan Robertson
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This project involves the development of a model of fibroblast
locomotion through a matrix of collagen fibers. These cells can
secrete collagen fibers as well as adhere to them. They can the
create a fiber matrix, locomote through it, and compact it. These
functions are critical in wound healing which is the subject of this
work. The model being developed consists of a collagen fiber matrix
along with the cell.
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Preliminary development of planar collagen fiber matrix. |
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The National Science Foundation
