Gerald Chiang

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This paper describes the design, implementation, and machine learning issues associated with developing a control system for a serpentine robotic manipulator. The purpose of the control system is to provide autonomous/teleoperative control of the serpentine robotic manipulator, as well as full robotic control during operation of the manipulator within an(More)
An Easily Manipulated Mechanical Arm (EMMA) was designed to facilitate all mining and closure operations for an environmental management project. The EMMA is a 52.5 ft long, 30” diameter, cylindrical hyper-redundant serpentine style manipulator. It consists of five discrete stages and is capable of accessing the complete task envelope within the silo. The(More)
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