Mark A. Minor

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This paper presents a time invariant kinematic motion controller for wheeled mobile robots. Actuator capability, mechanical design, and traction forces governed by terrain features provide velocity and curvature limitations that are used in the design of the controller. A novel path manifold that considers curvature limitations is introduced to provide a(More)
The design, implementation, and evaluation of a miniature biped robot for urban reconnaissance are presented. Design specifications for mobility, space requirement, weight, sensing, and control are defined. A revolute hip joint is selected based on its enhanced mobility and capability to function in reasonably confined spaces. Small size dictates minimal(More)
The subject of this paper is the design, control, and evaluation of a biped–climbing robot featuring a new hybrid hip joint. The hybrid hip provides both prismatic and revolute motion, discretely, to the robot, using a single actuator. This is intended to improve its adaptability in confined environments and its capability to maneuver over and around(More)