Steven Gray

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Opening and navigating through doors remains a challenging problem, particularly in cluttered environments and for spring-loaded doors. Passing through doors, especially spring-loaded doors, requires making and breaking contacts with the door and preventing the door from closing while passing through. In this work, we present a planning framework that(More)
This paper presents a toolchain for the design and simulation of reconfigurable robots that can be built from a single rigid sheet of smart material with embedded actuators and sensors along regular crease patterns. We call such sheets Foldable Programmable Matter (FPM). The toolchain we have created comprises an editor for drafting or modifying FPM,(More)
Motion primitive-based (lattice-based) graphs have been used extensively in navigation, but application to high-dimensional state-spaces has remained limited by computational complexity. In this work, we show how these graphs can be applied to mobile manipulation. The formation of closed chains in tasks that involve contacts with the environment may reduce(More)
Reconfiguring chain-type modular robots has been considered a difficult problem scaling poorly with increasing numbers of modules. We address the reconfiguration problem for robots in 2D by presenting centralized and decentralized algorithms based on the Carpenter’s Rule Theorem [5]. The theorem guarantees the existence of instantaneous collision-free(More)
In this study, we investigated the use of Visual Reaction Time™ (VRT™) for sexual interest in children to predict recidivism of sexual offenses among men who sexually abused children and men with other sexually deviant behaviors. The authors hypothesized that study participants with a higher VRT™ to stimuli of children would be more likely to sexually(More)
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