• Mechatronics of holonomic mobile base for compliant manipulation 

      Gupta, Somudro (2011-12)
      In order to operate safely and naturally in human-centered environments, robots need to respond compliantly to force and contact interactions. While advanced robotic torsos and arms have been built that successfully achieve ...
    • Redundancy resolution for mobile manipulation 

      Hulse, Aaron Michael, 1981- (2007-12)
      Mobile manipulation provides avenues to deploy dexterous, precise manipulators into environments that are not suited for fixed-base manipulators. To do this, complex decision making and control methods need to be implemented ...