Mayur Palankar

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Future improvements in hardware and O/S support for monitoring programs will depend on providing feedback for current support (even if it is quite limited). We look at using hardware breakpoint registers and performance counters in order to trace data accesses in a program. We first present a small experiment to understand how these features can be used to(More)
A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility-impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-DoF system expands on the conventional control methods and combines the 7-DoF robotic arm control with the 2-DoF(More)
— A Force Threshold-based Position (FTP) controller is presented for cyclic legged locomotion over irregular terrain. Force feedback in the form of threshold comparison is used to control each leg independently. The FTP controller decouples the control of individual legs and uses only localized feedback to generate joint torques. No feedback of body state(More)
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