Research
Research
Research
Research
92+ open-access research outputs.
Recent navigation systems achieve strong benchmark results, yet real-world deployment often remains visibly stop-and-go. This bottleneck arises because the sense-inference-execution loop is still bloc…
The rapid deployment of large-scale low Earth orbit (LEO) satellite constellations has positioned direct-to-handset (D2H) communications as a key enabler of future non-terrestrial networks. However, t…
This paper presents adaptive behavioral predictive control (ABPC), an indirect adaptive predictive control framework operating on streaming data. An LPV--ARX predictor is identified online via kernel-…
Embodied agents operating in open environments must translate high-level instructions into grounded, executable behaviors, often requiring coordinated use of both hands. While recent foundation models…
In this study, we present and validate an ensemble-based Hankel Dynamic Mode Decomposition with control (HDMDc) for uncertainty-aware seakeeping predictions of a high-speed catamaran, namely the Delft…
This study addresses the system identification of a small autonomous surface vehicle (ASV) under moored conditions using Hankel dynamic mode decomposition with control (HDMDc) and its Bayesian extensi…
Dexterous in-hand manipulation remains a foundational challenge in robotics, with progress often constrained by the prevailing paradigm of imitating the human hand. This anthropomorphic approach creat…
Closed-loop control remains an open challenge in soft robotics. The nonlinear responses of soft actuators under dynamic loading conditions limit the use of analytic models for soft robot control. Trad…
Recent advancements in control of prosthetic hands have focused on increasing autonomy through the use of cameras and other sensory inputs. These systems aim to reduce the cognitive load on the user b…
The extended Kalman filter (EKF) has been the industry standard for state estimation problems over the past sixty years. The Invariant Extended Kalman Filter (IEKF) is a recent development of the EKF …
This work presents KnotDLO, a method for one-handed Deformable Linear Object (DLO) knot tying that is robust to occlusion, repeatable for varying rope initial configurations, interpretable for generat…
Action observation (AO) therapy is a promising rehabilitative treatment for motor and language function in individuals recovering from neurological conditions, such as stroke. This pilot study aimed t…
Energy efficiency is critical to the success of legged robotics. Efficiency is lost through wasted energy during locomotion and standing. Including elastic elements has been shown to reduce movement c…
Many soft robots struggle to produce dynamic motions with fast, large displacements. We develop a parallel 6 degree-of-freedom (DoF) Stewart-Gough mechanism using Handed Shearing Auxetic (HSA) actuato…
Augmented reality (AR) is an effective tool in robotic surgery education as it combines exploratory learning with three-dimensional guidance. However, existing AR systems require expert supervision an…
Covert speech involves imagining speaking without audible sound or any movements. Decoding covert speech from electroencephalogram (EEG) is challenging due to a limited understanding of neural pronunc…
This work focuses on estimating the number of terms of a Fourier-Bessel series of order $p'$ required to get within a certain error of a Bessel function of a fixed order $p$ where $p \neq p'$. Our app…
Until recently, robotics safety research was predominantly about collision avoidance and hazard reduction in the immediate vicinity of a robot. Since the advent of large vision and language models (VL…
Most control techniques for prosthetic grasping focus on dexterous fingers control, but overlook the wrist motion. This forces the user to perform compensatory movements with the elbow, shoulder and h…
This study introduces and compares the Hankel dynamic mode decomposition with control (Hankel-DMDc) and a novel Bayesian extension of Hankel-DMDc as model-free (i.e., data-driven and equation-free) ap…
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