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IMPASS (Intelligent Mobility Platform with Active Spoke System) is a novel mobile robot driven by two rimless spoke wheels. Each of the spokes can be individually actuated with intelligent motion planning to walk over uneven terrain with high mobility. This form of novel locomotion has the potential to combine the efficiency of a wheeled robot and the(More)
STriDER (Self-Excited Tripedal Dynamic Experimental Robot) is a novel three-legged walking machine that exploits the concept of actuated passive dynamic locomotion to dynamically walk with high energy efficiency and minimal control. Unlike other passive dynamic walking machines, this unique tripedal locomotion robot is inherently stable with its tripod(More)
– IMPASS (Intelligent Mobility Platform with Active Spoke System) is a novel locomotion system concept that utili zes rimless wheels with individually actuated spokes to provide the ability to step over large obstacles like legs, adapt to uneven surfaces like tracks, yet retaining the speed and simplicity of wheels. Since it lacks the complexity of legs and(More)
A biped mountable robotic baby head was developed using a combination of Biometal fiber and Flexinol shape memory alloy actuators (SMAs). SMAs were embedded in the skull and connected to the elastomeric skin at control points. An engineered architecture of the skull was fabricated, which incorporates all the SMA wires with 35 routine pulleys, two firewire(More)
This work presents a novel motion planning framework, rooted in nonlinear programming theory, that treats uncertain fully and underactuated dynamical systems described by ordinary differential equations. Uncertainty in multibody dynamical systems comes from various sources, such as system parameters, initial conditions, sensor and actuator noise, and(More)
elman has defined the current period in North American health care as the " era of assessment and accountability " (EAA). 1 In this era there is a close examination of the actions of health care institutions during the course of patient treatments and the actual patient outcomes that result. In the past, most attention centred on medical efficacy or the(More)
This paper presents work on the gait and gait transition analysis for a novel mobile robot that uses two actuated spoke wheels. Gait transitions, known as acyclic feed forward patterns, allow the robot to switch from one type of gait to another during walking and turning. The mobile robot IMPASS (Intelligent Mobility Platform with Active Spoke System) uses(More)
This work presents a novel optimal design framework that treats uncertain dynamical systems described by ordinary differential equations. Uncertainty in multibody dynamical systems comes from various sources, such as: system parameters, initial conditions, sensor and actuator noise, and external forcing. The inclusion of uncertainty in design is of(More)
Intelligent Mobility Platform with Active Spoke System (IMPASS) is a novel wheel-leg hybrid robot that can walk in unstructured environments by stretching in or out three independently actuated spokes of each wheel. This form of novel locomotion has the potential to combine the efficiency of a wheeled robot and the mobility of a legged robot. A highly(More)
This paper presents a novel bipedal robot concept and prototype that takes inspiration from humanoids but features fundamental differences that drastically improve its agility and stability while reducing its complexity and cost. This Non-Anthropomorphic Bipedal Robotic System (NABiRoS) modifies the traditional bipedal form by aligning the legs in the(More)