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)
—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)
Whegs™ is the latest generation of full size Whegs™ robots (Fig 1). The robot is designed for collaborative work with the Air Force Institute of Technology (AFIT) in SLAM with active feature recognition. Whegs™ vehicles use abstracted biological principles to navigate over irregular and varied terrain with little or no low level control [1,4,5]. Torsionally(More)
Insects and geckos use claws and adhesive pads to negotiate both rough and smooth surfaces [1][2][3]. Climbing robots have been designed to mimic various aspects of these and other biological systems to operate in specific vertical environments. Robots that adhere to the surface through suction cups [4][5][6], magnetic end-effectors [7][8][9], or adhesive(More)
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