Gary M. Bone

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A novel solution to the three-dimensional dynamic human-robot collision problem is presented. Sphere-based geometric models are used for the human and robot due to the efficiency of the distance computation. The collision avoidance algorithm searches for collision-free paths by moving the end-effector along a set of pre-defined search directions. An(More)
Pneumatic servo actuators have the benefits of low-cost, cleanliness and a high power-to-weight ratio. However , their relatively poor accuracy prevents them from competing with electro-mechanical systems when higher accuracy is needed. The cause of the steady-state error for a pneumatic servo system with an open-center servo valve is investigated. Full(More)