Ross C. Taylor

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— An application of OSCAR – a generalized robotic software framework – for kinematic control of hyper-redundant, self-reconfigurable systems is presented. OSCAR includes generalized kinematics, dynamics, device interfacing and criteria-based decision-making. The developed application allows an operator to interactively reconfigure modular chains into(More)
Robotic systems are often used for remote operations in Department of Energy Environmental Management applications because they allow the removal of personnel from dangerous environments. Typically, these systems are operated in pure teleoperation mode by a human operator. While these systems are capable of performing many tasks, their performance can be(More)
This paper demonstrates the modeling of a robot controller in terms of its features, where each feature exports an interface that is defined in terms of properties and actions. For a system modeled in this manner, generating the interface for a specific controller becomes an exercise in feature composition. As the features are combined, the interfaces of(More)
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