Alan D. Guisewite

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In January 2004, NASA began a bold enterprise to return to the Moon, and with the technologies and expertise gained, press on to Mars. The underlying Vision for Space Exploration calls for a sustained and affordable human and robotic program to explore the solar system and beyond; to conduct human expeditions to Mars after successfully demonstrating(More)
I investigate geometric and mechanical sensing strategies for objects of known shapes. Examples include industrial parts and everyday desktop items. Based on nonlinear control theory, I show that local observability from contact holds in typical manipulation tasks, and I present an approach for estimating the pose and motion of a manipulated object from a(More)
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