Alexander S. Boxerbaum

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— We have developed several innovative designs for a new kind of robot that uses a continuous wave of peristalsis for locomotion, the same method that earthworms use, and report on the first completed prototypes. This form of locomotion is particularly effective in constrained spaces, and although the motion has been understood for some time, it has rarely(More)
— The capability of autonomous platforms to function on beaches is critical for a wide range of military and civilian operations. Of particular importance is the ability to autonomously navigate through rocky terrain, hard-packed moist sand, and loose dry sand typically found in these environments. The study of animal locomotion mechanisms provides specific(More)
— This paper describes ongoing work at The Naval Postgraduate School (NPS) and Case Western Reserve University (CWRU) to create an autonomous highly mobile amphibious robot. A first generation land-based prototype has been constructed and field tested. This robot design, based on a tracked element, is capable of autonomous waypoint navigation,(More)
— We have developed several innovative designs for a new kind of robot that uses peristalsis for locomotion, the same method that earthworms use, and report on the first completed prototype (Fig. 1). This form of locomotion is particularly effective in constrained spaces, and although the motion has been understood for some time, it has rarely been(More)
—When a camera is affixed on a dynamic mobile robot, image stabilization is the first step towards more complex analysis on the video feed. This paper presents a novel electronic image stabilization (EIS) algorithm for highly dynamic mobile robotic platforms. The algorithm combines optical flow motion parameter estimation with angular rate data provided by(More)
Surf-zone environments represent an extreme challenges to robot operation. A robot that autonomously navigates rocky terrain, constantly changing underwater currents, hard-packed moist sand and loose dry sand characterizing this environment, would have significant utility in a range of defence and civilian missions. The study of animal locomotion mechanisms(More)