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During extended continuous operations, gaps can form in the operations area when vehicles leave to recharge their energy supplies. This project implements a novel token-passing algorithm to manage a refueling strategy for cooperating unmanned undersea vehicles. The algorithm, which limits the number of vehicles to refuel during any time segment, robustly accommodates intermittent communications.
Human level of dexterity has not been duplicated in a robotic form to date. Dexterity is achieved in part due to the biomechanical structure of the human body and in part due to the neural control of movement. We have developed an anatomically correct testbed (ACT) hand to investigate the importance and behavioral consequences of anatomical features and neural control strategies of the human hand...
Motivated by an error-recovery locomotion problem, we propose a control technique for a complex mechanical system by decomposing the system dynamics into a collection of simplified models. The robot considered, The Rocking and Rolling Robot (RRRobot), is a high-centered round-bodied robot that locomotes on a plane by swinging its legs and rocking on its shell. We identify the elements contributing...
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