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  • Nikolaos G. Tsagarakis, Stephen Morfey, Gustavo A. Medrano-Cerda, Zhibin Li, Darwin G. Caldwell
  • Engineering, Computer Science
  • IEEE International Conference on Robotics and…
  • 2013 (First Publication: 1 May 2013)
  • The incorporation of passive compliance in robotic systems could improve their performance during interactions and impacts, for energy storage and efficiency, and for general safety for both theContinue Reading
  • Isuru S. Godage, David T. Branson, Emanuele Guglielmino, Gustavo A. Medrano-Cerda, Darwin G. Caldwell
  • Physics, Computer Science
  • IEEE International Conference on Robotics and…
  • 2011 (First Publication: 1 May 2011)
  • This paper presents a new three dimensional kinematic and dynamic model for variable length continuum arm robotic structures using a novel shape function-based approach. The model incorporatesContinue Reading
  • Isuru S. Godage, Emanuele Guglielmino, David T. Branson, Gustavo A. Medrano-Cerda, Darwin G. Caldwell
  • Computer Science
  • IEEE/RSJ International Conference on Intelligent…
  • 2011 (First Publication: 1 September 2011)
  • This paper presents a new three dimensional (3D) kinematic model based on mode shape functions (MSF) for multisection continuum arms. It solves the singularity problems associated with previousContinue Reading
  • Houman Dallali, Mohamad Mosadeghzad, +5 authors Darwin G. Caldwell
  • Computer Science
  • IEEE International Conference on Mechatronics…
  • 2013 (First Publication: 1 February 2013)
  • This paper reports on development of an open source dynamic simulator for the Compliant huMANoid robot, COMAN. The key advantages of this simulator are: it generates efficient symbolic dynamicalContinue Reading
  • Mohamad Mosadeghzad, Gustavo A. Medrano-Cerda, Jody Alessandro Saglia, N. G. Tsagarakis, Darwin G. Caldwell
  • Engineering
  • IEEE/ASME International Conference on Advanced…
  • 2012 (First Publication: 1 July 2012)
  • Impedance control, as method to improve the interaction ability of robotic systems, has gained great attention by the robotic community and a large number of different implementations have beenContinue Reading
  • Thiago Boaventura Cunha, Gustavo A. Medrano-Cerda, Claudio Semini, Jonas Buchli, Darwin G. Caldwell
  • Computer Science
  • IEEE/RSJ International Conference on Intelligent…
  • 2013 (First Publication: 1 November 2013)
  • A legged robot has to deal with environmental contacts every time it takes a step. To properly handle these interactions, it is desirable to be able to set the foot compliance. For anContinue Reading