The research addresses problems in mechanism theory, and focuses on (a) kinematics, dynamics and design of closed chain mechanisms, (b) dynamic control of multiple cooperating robotic systems and (c) autonomous manipulation and locomotion in unstructured environments. The first topic is further divided into three thrust areas including (1) control of a three degree of freedom pneumatic wrist ankle joint capable of sustaining impacts and accommodating constraints, (2) design of cable spring transmissions, and (3) synthesis of closed loop parallel drive linkages for special purpose robots in manufacturing. The second topic, coordination of multiple robots, addresses the simultaneous control of trajectory and constraint forces. Specifically, the research problems are the control of contact conditions, modeling and control of contact interactions when compliant skins are used, and experimental validation of the models and algorithms by using a test bed comprising two arms and objects that are larger than the end effectors. The third research topic on coordination focuses on (1) using compliant models for the locomotor terrain system to solve the force distribution and traction optimization problem, (2) developing measures of stability for locomotion on undulating terrain under dynamic loading, and (3) establishing optimal foothold sequences and gait control schemes for dynamically stable walking machines.
