Actuator Control for the NASA-JSC Valkyrie Humanoid Robot: A Decoupled Dynamics Approach for Torque Control of Series Elastic Robots
Paine, Nicholas, Mehling, Joshua S., Holley, James, Radford, Nicolaus A., Johnson, Gwendolyn, Fok, Chien-Liang, Sentis, Luis
Published in Journal of field robotics (01.05.2015)
Published in Journal of field robotics (01.05.2015)
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Journal Article
Phase-Relaxed-Passive Full State Feedback Gain Limits for Series Elastic Actuators
Thomas, Gray Cortright, Mehling, Joshua S., Holley, James, Sentis, Luis
Published in IEEE/ASME transactions on mechatronics (01.02.2021)
Published in IEEE/ASME transactions on mechatronics (01.02.2021)
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Journal Article
Valkyrie: NASA's First Bipedal Humanoid Robot
Radford, Nicolaus A., Strawser, Philip, Hambuchen, Kimberly, Mehling, Joshua S., Verdeyen, William K., Donnan, A. Stuart, Holley, James, Sanchez, Jairo, Nguyen, Vienny, Bridgwater, Lyndon, Berka, Reginald, Ambrose, Robert, Myles Markee, Mason, Fraser-Chanpong, N. J., McQuin, Christopher, Yamokoski, John D., Hart, Stephen, Guo, Raymond, Parsons, Adam, Wightman, Brian, Dinh, Paul, Ames, Barrett, Blakely, Charles, Edmondson, Courtney, Sommers, Brett, Rea, Rochelle, Tobler, Chad, Bibby, Heather, Howard, Brice, Niu, Lei, Lee, Andrew, Conover, Michael, Truong, Lily, Reed, Ryan, Chesney, David, Platt Jr, Robert, Johnson, Gwendolyn, Fok, Chien-Liang, Paine, Nicholas, Sentis, Luis, Cousineau, Eric, Sinnet, Ryan, Lack, Jordan, Powell, Matthew, Morris, Benjamin, Ames, Aaron, Akinyode, Jide
Published in Journal of field robotics (01.05.2015)
Published in Journal of field robotics (01.05.2015)
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Journal Article
Leveraging disturbance observer based torque control for improved impedance rendering with series elastic actuators
Mehling, Joshua S., Holley, James, O'Malley, Marcia K.
Published in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (01.09.2015)
Published in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (01.09.2015)
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Conference Proceeding
Thermal Recovery of Multi-Limbed Robots With Electric Actuators
Jorgensen, Steven Jens, Holley, James, Mathis, Frank, Mehling, Joshua S., Sentis, Luis
Published in IEEE robotics and automation letters (01.04.2019)
Published in IEEE robotics and automation letters (01.04.2019)
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Journal Article
Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary
Jorgensen, Steven Jens, Lanighan, Michael W., Bertrand, Sylvain S., Watson, Andrew, Altemus, Joseph S., Askew, R. Scott, Bridgwater, Lyndon, Domingue, Beau, Kendrick, Charlie, Lee, Jason, Paterson, Mark, Sanchez, Jairo, Beeson, Patrick, Gee, Seth, Hart, Stephen, Quispe, Ana Huaman, Griffin, Robert, Lee, Inho, McCrory, Stephen, Sentis, Luis, Pratt, Jerry, Mehling, Joshua S.
Published in 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids) (01.10.2019)
Published in 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids) (01.10.2019)
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Conference Proceeding
A model matching framework for the synthesis of series elastic actuator impedance control
Mehling, Joshua S., O'Malley, Marcia K.
Published in 22nd Mediterranean Conference on Control and Automation (01.06.2014)
Published in 22nd Mediterranean Conference on Control and Automation (01.06.2014)
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Conference Proceeding
Thermal Recovery of Multi-Limbed Robots with Electric Actuators
Jorgensen, Steven Jens, Holley, James, Mathis, Frank, Mehling, Joshua S, Sentis, Luis
Published in arXiv.org (21.05.2019)
Published in arXiv.org (21.05.2019)
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Paper
Journal Article
Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary
Jorgensen, Steven Jens, Lanighan, Michael W, Bertrand, Sylvain S, Watson, Andrew, Altemus, Joseph S, Askew, R Scott, Bridgwater, Lyndon, Domingue, Beau, Kendrick, Charlie, Lee, Jason, Paterson, Mark, Sanchez, Jairo, Beeson, Patrick, Gee, Seth, Hart, Stephen, Ana Huaman Quispe, Griffin, Robert, Lee, Inho, McCrory, Stephen, Sentis, Luis, Pratt, Jerry, Mehling, Joshua S
Published in arXiv.org (02.10.2019)
Published in arXiv.org (02.10.2019)
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Paper
Journal Article
Relative deflection detector
Radford, Nicolaus A, Kanelakos, Carolynn J, Neuhaus, Peter, Mehling, Joshua S, Rovekamp, Roger, Parsons, Adam H
Year of Publication 21.05.2019
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Year of Publication 21.05.2019
Patent
Increasing the impedance range of a haptic display by adding electrical damping
Mehling, J.S., Colgate, J.E., Peshkin, M.A.
Published in First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference (2005)
Published in First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference (2005)
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Conference Proceeding
Centaur: NASA's Mobile Humanoid Designed for Field Work
Mehling, J.S., Strawser, P., Bridgwater, L., Verdeyen, W.K., Rovekamp, R.
Published in Proceedings 2007 IEEE International Conference on Robotics and Automation (01.04.2007)
Published in Proceedings 2007 IEEE International Conference on Robotics and Automation (01.04.2007)
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Conference Proceeding
Planar torsion spring
IHRKE CHRIS A, PARSONS ADAM H, GRIFFITH BRYAN KRISTIAN, MEHLING JOSHUA S
Year of Publication 15.05.2012
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Year of Publication 15.05.2012
Patent
Planar torsion spring
Ihrke, Chris A, Parsons, Adam H, Mehling, Joshua S, Griffith, Bryan Kristian
Year of Publication 15.05.2012
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Year of Publication 15.05.2012
Patent
Planar torsion spring
Ihrke, Chris A, Parsons, Adam H, Mehling, Joshua S, Griffith, Bryan Kristian
Published in NASA Center for AeroSpace Information (CASI). Misc. Resources (15.05.2012)
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Published in NASA Center for AeroSpace Information (CASI). Misc. Resources (15.05.2012)
Web Resource
Method and apparatus for electromagnetically braking a motor
Davis, Donald R, Radford, Nicolaus A, Permenter, Frank Noble, Parsons, Adam H, Mehling, Joshua S
Year of Publication 29.11.2011
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Year of Publication 29.11.2011
Patent
Method and apparatus for electromagnetically braking a motor
PARSONS ADAM H, PERMENTER FRANK NOBLE, RADFORD NICOLAUS A, DAVIS DONALD R, MEHLING JOSHUA S
Year of Publication 29.11.2011
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Year of Publication 29.11.2011
Patent