Scott B. Nokleby

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A detailed design of an autonomous amphibious vehicle (AAV) capable of traversing across aquatic and terrestrial environments is presented. The vehicle features a unique suspension system built into the two segment body, whereby a joint allows each segment to pitch and roll independently of one another while traveling across uneven terrain. Four driven(More)
Mobile-manipulator systems (MMS) are extremely useful tools in teleoperation tasks. However, the current command strategy is strenuous and difficult and requires extensive training. A new command strategy is presented where control of the entire MMS is done using a single joystick. Rather than modeling the system as a redundant manipulator, control of the(More)
—The force-moment capabilities of redundantly-actuated planar-parallel manipulator (PPM) architectures are investigated. A previously developed explicit methodology for generating the force-moment capabilities of redundantly-actuated PPMs is used on three different ar-chitectures. The results for the 3-RRR, 3-RPR, 3-PRR layouts , where the underline denotes(More)
The design and implementation of an indoor absolute localization system for a novel three-degree-of-freedom (DOF) omni-directional mobile platform is presented. This localization system is a modification of the Cricket indoor localization system developed at the Massachusetts Institute of Technology (MIT) and is similar to the Global Positioning System(More)
A unique design for an omni-directional platform to be used in conjunction with a robotic arm is presented. The platform differs from other omni-wheel layouts in that its drive axes do not intersect its geometric centre. The platform can be controlled in a local method using a three degree-of-freedom (DOF) joystick interfaced directly with the platform(More)