ES Papadopoulos

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1 ABSTRACT Animals are capable of breathtaking dynamic rough terrain mobility – far superior to that of any existing wheeled, tracked or legged robot. Our research aims to endow our legged robots with increasingly capable dynamic abilities. In this paper, we are presenting a controller that expands the rough terrain abilities of our four-legged robot, Scout(More)
Space manipulators mounted on an on-o thruster-controlled base are envisioned to assist in the assembly and maintenance of space structures. When handling large payloads, manipula-tor joint and link exibility become important, for it can result in payload-attitude controller fuel-replenishing dynamic interactions. In this paper, the dynamic behaviour of a(More)
Space manipulators mounted on an on-o thruster-controlled base are envisioned to assist in the assembly and maintenance of space structures. When handling large payloads, manipulator joint and link exibility become important, for they can result in payload-attitude controller fuel-replenishing dynamic interactions. In this paper, the dynamic behavior of a(More)
This paper addresses the control and aspects of modeling for Scout II, an autonomous four-legged robot with only one actuator per compliant leg. The running controller requires minimal task level feedback, yet achieves reliable, efficient and fast running up to 1.2 m/s-apparently complex dynamically dexterous tasks may be controlled via simple control laws.(More)
High dose chemotherapy (HDCT) with autologous (bone marrow or peripheral blood) stem cell rescue (ASCR) has had success in the treatment of some malignant pediatric brain tumors. We report a series of adults enrolled in one of three HDCT and ASCR protocols for malignant primary brain tumors. Overall toxic mortality was 18%; chemotherapy regimen, tumor type,(More)
Serum calcium and magnesium levels were studied during neuroleptic treatment in a group of 29 chronic schizophrenic inpatients who had previously remained drug free for at least 4 weeks. The drug-free values of both electrolytes were not significantly different between patients and controls. In three patients who developed catatonic stupor during the(More)
In this paper we present and experimentally validate a control method for regulating both the forward speed and the apex height of a one legged hopping robot, using only a single actuator. The control method is based on a dynamic model of the hopping robot and makes use of the dynamic coupling of the vertical and forward motions of the robot. The control is(More)