Kyle Edelberg

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This paper discusses hardware and software improvements to the RoboSimian System leading upto and during the 2015 DARPA Robotics Challenge (DRC) Finals. Team RoboSimian achieved a 5th place finish by achieving 7 points in 47:59 minutes. This publication is a follow-on from Hebert et al. (2015b) which outlined the system from the 2013 DRC Trials. We present(More)
— Implementation of control software on physical systems requires the use of hardware that invariably introduces imprecisions. In particular, the use of an analog-to-digital converter (ADC) introduces uncertainties in measured signals due to sampling and quantization effects. These imprecisions can have a significant effect on the tracking performance of(More)
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