A Monte Carlo Approach to Koopman Direct Encoding and Its Application to the Learning of Neural-Network Observables

Authors: Nozawa, I., Kamienski, E., O'Neill, C., Asada, H.H.

Source: IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 9(3):2264-2271 Mar, 2024

Enhancing Elderly Mobility: A Sturdy, Two-Body Robot for Handlebar Placement in Any Location

Authors: Bolli, R., Asada, H.H.

Source: IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 9(3):2654-2661 Mar, 2024

Time-Critical Fall Prediction Based on Lipschitz Data Analysis and Design of a Reconfigurable Walker for Preventing Fall Injuries

Authors: Kamienski, E.A., Bonato, P., Asada, H.H.

Source: IEEE Access Access, IEEE. 12:1822-1838 2024

Global, Unified Representation of Heterogenous Robot Dynamics Using Composition Operators: A Koopman Direct Encoding Method

Authors: Asada, H.H.

Source: IEEE/ASME Transactions on Mechatronics IEEE/ASME Trans. Mechatron. Mechatronics, IEEE/ASME Transactions on. 28(5):2633-2644 Oct, 2023

Data-Driven Encoding: A New Numerical Method for Computation of the Koopman Operator

Authors: Ng, J., Asada, H.H.

Source: IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 8(7):3940-3947 Jul, 2023

A High-Strength, Highly-Flexible Robotic Strap for Harnessing, Lifting, and Transferring Humans

Authors: Barhydt, K., Asada, H.H.

Source: IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 8(4):2110-2117 Apr, 2023

Learned Lifted Linearization Applied to Unstable Dynamic Systems Enabled by Koopman Direct Encoding

Authors: Ng, J., Asada, H.H.

Source: IEEE Control Systems Letters IEEE Control Syst. Lett. Control Systems Letters, IEEE. 7:1153-1158 2023

Horizontal Insertion of a Ring Onto a Shaft Using a Gantry Crane With Minimal Sensors

Authors: O'Neill, C., Asada, H.H.

Source: IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 7(3):7271-7278 Jul, 2022

Dynamic Modeling of Bucket-Soil Interactions Using Koopman-DFL Lifting Linearization for Model Predictive Contouring Control of Autonomous Excavators

Authors: Sotiropoulos, F.E., Asada, H.H.

Source: IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 7(1):151-158 Jan, 2022

Musculoskeletal Load Analysis for the Design and Control of a Wearable Robot Bracing the Human Body While Crawling on a Floor

Authors: Daniel, P.H., Fu, C., Asada, H.H.

Source: IEEE Access Access, IEEE. 10:6814-6829 2022

Learning of Causal Observable Functions for Koopman-DFL Lifting Linearization of Nonlinear Controlled Systems and Its Application to Excavation Automation

Authors: Selby, N.S., Asada, H.H.

Source: IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 6(4):6297-6304 Oct, 2021

Control Strategy for Jam and Wedge-Free 3D Precision Insertion of Heavy Objects Suspended With a Multi-Cable Crane

Authors: Hoffman, R., Asada, H.H.

Source: IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 6(4):7453-7460 Oct, 2021

Otariidae-Inspired Soft-Robotic Supernumerary Flippers by Fabric Kirigami and Origami

Authors: Liu, S., Zhu, Y., Zhang, Z., Fang, Z., Tan, J., Peng, J., Song, C., Asada, H.H., Wang, Z.

Source: IEEE/ASME Transactions on Mechatronics IEEE/ASME Trans. Mechatron. Mechatronics, IEEE/ASME Transactions on. 26(5):2747-2757 Oct, 2021

Safe Tumbling of Heavy Objects Using a Two-Cable Crane

Authors: O'Neill, C., Asada, H.H.

Source: IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 6(2):1082-1089 Apr, 2021

Integrated Voluntary-Reactive Control of a Human-SuperLimb Hybrid System for Hemiplegic Patient Support

Authors: Song, H., Asada, H.H.

Source: IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 6(2):1646-1653 Apr, 2021

Modeling and Balance Control of Supernumerary Robotic Limb for Overhead Tasks

Authors: Luo, J., Gong, Z., Su, Y., Ruan, L., Zhao, Y., Asada, H.H., Fu, C.

Source: IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 6(2):4125-4132 Apr, 2021

Inherent Haptic Feedback From Supernumerary Robotic Limbs

Authors: Guggenheim, J.W., Asada, H.H.

Source: IEEE Transactions on Haptics IEEE Trans. Haptics Haptics, IEEE Transactions on. 14(1):123-131 Jan, 2021

Precision Assembly of Heavy Objects Suspended With Multiple Cables From a Crane

Authors: Hoffman, R., Asada, H.H.

Source: IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 5(4):6876-6883 Oct, 2020

A Data-Driven Approach to Prediction and Optimal Bucket-Filling Control for Autonomous Excavators

Authors: Sandzimier, R.J., Asada, H.H.

Source: IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 5(2):2682-2689 Apr, 2020

Leveraging the Human Operator in the Design and Control of Supernumerary Robotic Limbs

Authors: Guggenheim, J., Hoffman, R., Song, H., Asada, H.H.

Source: IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 5(2):2177-2184 Apr, 2020