Alexander H. Chang

Learn More
In prior work, we have shown that it is possible to estimate the product of observed affinity and intrinsic efficacy of an agonist expressed relative to that of a standard agonist simply through the analysis of their respective concentration-response curves. In this report, we show analytically and through mathematical modeling that this product, termed(More)
The scales on the skin of a snake are an integral part of the snake's locomotive capabilities. It stands to reason that the integration of scales into the design of robotic snakes would open new properties to exploit. In this work, we present a robotic snake design that incorporates rigid scales in the casing of each module. To validate the impact of the(More)
In the industrial manufacturing processing, peg-in-hole assembly is the core technique for automation, which usually involves two stages. The first stage is the search phase, which is used to find the center of the hole. Then, the peg is aligned with the hole on the plane in the second stage, known as the insertion phase. However, the slight orientational(More)
High-level, closed-loop traversal through obstacle-strewn environments remains an open and challenging endeavor for snake-like robotic platforms. Rectilinear forms of locomotion, despite their unique mobility advantages compared to other gait shapes, have seen relatively little progress toward this objective. A dynamical exposition of traveling wave(More)
The varied and complex dynamics of deformable terrain are significant impediments toward real-world viability of locomotive robotics, particularly for legged machines. We explore vertical jumping on granular media (GM) as a model task for legged locomotion on uncharacterized deformable terrain. By integrating (Gaussian process) GP-based regression and(More)
  • 1