Robotics

Robotics is a field that combines mechanical engineering, electrical engineering and computer science in the design, construction, operation, and application of intelligent machines or virtual artificial agents with the goal of helping society.  The robotics research in the DARC Lab focuses on the following topics:

  1. Design and modeling of robotic systems
  2. Actuation (IPMC-based robotic systems)
    • Monolithic IPMC fins for propulsion and maneuvering in bio-inspired underwater robotics
      J. J. Hubbard, M. Fleming, V. Palmre, D. Pugal, K. J. Kim, K. K. Leang
      IEEE Journal of Oceanic Engineering, 39 (3), pp. 540 – 551, 2014 [PDF]
    • An IPMC-enabled bio-inspired bending/twisting fin for underwater applications
      V. Palmre, M. Fleming, J. J. Hubbard, D. Pugal, S. Kim, K. J. Kim, K. K. Leang
      Smart Mater. Struct., 22, pp. 014003, 2013.
    • Frequency-weighted feedforward control for dynamic compensation in ionic polymer-metal composite actuators
      Y. Shan, K. K. Leang
      Smart Materials and Structures, 18 (12), pp. 125016 (11 pages), 2009.
  3. Collision avoidance (for ground and aerial robots)
  4.  Tracking and position control
    • Control of a quadcopter aerial robot using optic flow sensing
      M. Brandon Hurd, M.S. Thesis, December 2013, University of Nevada, Reno [ PDF ]
    • Augmented proportional-derivative control of a micro quadcopter
      N. L. Johnson and K. K. Leang
      ASME Dynamic Systems and Controls Conference, Stanford University, Palo Alto, CA., October 21-23, 2013

 

Publications related to robotics:

2017

32.Position and Linear Velocity Estimation for Position-Based Visual Servo Control of an Aerial Robot in GPS-Denied EnvironmentsD. Guo, K. K. Leang (2017): Position and Linear Velocity Estimation for Position-Based Visual Servo Control of an Aerial Robot in GPS-Denied Environments. ASME Dynamic Systems and Control Conference (DSCC), Tysons Corner, Virginia, USA, October 11-13, 2107 at the Sheraton Tysons Hotel in Tysons Corner, Virginia, 2017. (Type: Inproceeding | BibTeX)
31.Mutual Information Control for Target Acquisition: A Method to Localize a Gas/Chemical Plume Source Using a Mobile SensorJ. R. Bourne, K. K. Leang (2017): Mutual Information Control for Target Acquisition: A Method to Localize a Gas/Chemical Plume Source Using a Mobile Sensor. ASME Dynamic Systems and Control Conference (DSCC) Tyson Corner, Virginia, USA, October 11-13, 2017, October 11-13, 2107 at the Sheraton Tysons Hotel in Tysons Corner, Virginia, 2017. (Type: Inproceeding | BibTeX)
30.Guest Editorial: Focused Section on Advances in Soft RoboticsX. Tan, K. K. Leang, Z. Yin (2017): Guest Editorial: Focused Section on Advances in Soft Robotics. International Journal of Intelligent Robotics and Applications, 1 (2), pp. 121 - 123, 2017. (Type: Journal Article | BibTeX)
29.Modeling and Adaptive Nonlinear Disturbance Observer for Closed-Loop Control of In-Ground-Effects on Multi-rotor UAVsX. He, M. Calaf, K. K. Leang (2017): Modeling and Adaptive Nonlinear Disturbance Observer for Closed-Loop Control of In-Ground-Effects on Multi-rotor UAVs. ASME Dynamic Systems and Control Conference (DSCC) Tyson Corner, Virginia, USA, October 11-13, 2017, October 11-13, 2107 at the Sheraton Tysons Hotel in Tysons Corner, Virginia, 2017. (Type: Inproceeding | BibTeX)
28.Adaptive Vision-Based Leader- Follower Formation Control of Mobile RobotsH. Wang, D. Guo, X. Liang, W. Chen, G. Hu, K.K. Leang (2017): Adaptive Vision-Based Leader- Follower Formation Control of Mobile Robots. IEEE Transactions on Industrial Electronics, 64 (4), pp. 2893 - 2902, 2017. (Type: Journal Article | Links | BibTeX)
27.Smart Actuator Technologies: Design, Modeling, Fabrication, and Control for Mechatronic and Robotic Systems (expected 2018)Kam K. Leang, Kwang J. Kim (2017): Smart Actuator Technologies: Design, Modeling, Fabrication, and Control for Mechatronic and Robotic Systems (expected 2018). Elsevier, 2017. (Type: Book | BibTeX)
26.Adaptive-Repetitive Visual-Servo Control of Low-Flying Aerial Robots via Uncalibrated High-Flying CamerasD. Guo, J. Bourne, H. Wang, W. Yim, K. K. Leang (2017): Adaptive-Repetitive Visual-Servo Control of Low-Flying Aerial Robots via Uncalibrated High-Flying Cameras. Journal of Nonlinear Science, Special issue on robotics: mechanics and control of locomotion, 27 (4), pp. 1235-1256, 2017. (Type: Journal Article | Abstract | Links | BibTeX)
25.Fused Filament 3D Printing of Ionic Polymer-Metal Composites for Soft RoboticsK. K. Leang, J. D. Carrico (2017): Fused Filament 3D Printing of Ionic Polymer-Metal Composites for Soft Robotics. SPIE Smart Structures and Materials and Nondestructive Evaluation and Health Monitoring, Portland, OR, March 26-29, 2017., 2017. (Type: Inproceeding | BibTeX)
24.3D-Printed Ionic Polymer-Metal Composite Soft Crawling RobotJ. D. Carrico, K. J. Kim, K. K. Leang, (2017): 3D-Printed Ionic Polymer-Metal Composite Soft Crawling Robot. IEEE International Conference on Robotics and Automation (ICRA), Sands Expo and Convention Centre, Marina Bay Sands in Singapore, May 29 - June 3, 2017, 2017. (Type: Inproceeding | BibTeX)
23.Eye-in-Hand Tracking Control of a Free-Floating Space ManipulatorH. Wang, D. Guo, H. Xu, W. Chen, T. Liu, K. K. Leang, (2017): Eye-in-Hand Tracking Control of a Free-Floating Space Manipulator. IEEE Transactions on Aerospace and Electronic Systems (In press), 2017. (Type: Journal Article | BibTeX)
22.Particle filter based gas/chemical plume source localization for autonomous mobile robotsJ. R. Bourne, K. K. Leang (2017): Particle filter based gas/chemical plume source localization for autonomous mobile robots. IEEE International Conference on Advanced Intelligent Mechatronics, Munich, Germany, July 3-7, 2017 (under review), 2017. (Type: Inproceeding | BibTeX)
21.Repetitive Control Design and Implementation for Periodic Motion Tracking in Aerial VehiclesX. He, D. Guo, K. K. Leang (2017): Repetitive Control Design and Implementation for Periodic Motion Tracking in Aerial Vehicles. American Control Conference May 24-26, Seattle, WA, 2017, 2017. (Type: Inproceeding | BibTeX)
20.A Unified Leader-Follower Scheme for Mobile Robots with Uncalibrated On-board CameraD. Guo, H. Wang, W. Chen, M. Liu, Z. Xia, K. K. Leang (2017): A Unified Leader-Follower Scheme for Mobile Robots with Uncalibrated On-board Camera. IEEE International Conference on Robotics and Automation (ICRA), Sands Expo and Convention Centre, Marina Bay Sands in Singapore, May 29 - June 3, 2017. (Type: Inproceeding | BibTeX)
19.On-Board Model-Based Automatic Collision Avoidance: Application in Remotely Piloted Unmanned Aerial VehiclesD. Bareiss, J. Bourne, K. K. Leang (2017): On-Board Model-Based Automatic Collision Avoidance: Application in Remotely Piloted Unmanned Aerial Vehicles. Autonomous robots (In press), 41 (7), pp. 1539-1554, 2017. (Type: Journal Article | Abstract | Links | BibTeX)

2016

18.Design and modeling of the dynamic underactuated flying-walking (DUCK) robotChristopher J. Pratt (2016): Design and modeling of the dynamic underactuated flying-walking (DUCK) robot. University of Utah, 2016. (Type: Masters Thesis | Links | BibTeX)
17.Study of Improved Pilot Performance using Automatic Collision Avoidance for Tele-operated Unmanned Aerial VehiclesDaman Bareiss, Jur van den Berg, Jake Abbott, Kam K. Leang (2016): Study of Improved Pilot Performance using Automatic Collision Avoidance for Tele-operated Unmanned Aerial Vehicles. 2016 IEEE International Symposium on Safety, Security and Rescue Robotics, October 23-27, 2016, EPFL, Lausanne, Switzerland, 2016. (Type: Inproceeding | Links | BibTeX)
16.Model-based collision avoidance for dynamic single- and multi-robot systems: theory and application in ground and aerial robotsD. Bareiss (2016): Model-based collision avoidance for dynamic single- and multi-robot systems: theory and application in ground and aerial robots. University of Utah, 2016. (Type: PhD Thesis | Abstract | Links | BibTeX)
15.Dynamic underactuated flying-walking (DUCK) robotC. J. Pratt, K. K. Leang (2016): Dynamic underactuated flying-walking (DUCK) robot. 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, pp. 3267 - 3274, 2016. (Type: Inproceeding | Links | BibTeX)

2015

14.A  Micro Spherical Rolling and Flying RobotChristopher J. Dudley, Alex Woods, Kam K. Leang (2015): A Micro Spherical Rolling and Flying Robot. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 28 - October 02, Hamburg, Germany, 2015. (Type: Inproceeding | Links | BibTeX)
13.Stochastic automatic collision avoidance for  tele-operated unmanned aerial vehiclesDaman Bareiss, Jur van den Berg, Kam K. Leang (2015): Stochastic automatic collision avoidance for tele-operated unmanned aerial vehicles. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 28 - October 02, pp. 4818-4825, Hamburg, Germany, 2015. (Type: Inproceeding | Links | BibTeX)
12.Fused Filament Additive Manufacturing of Ionic Polymer-Metal Composite Soft Active 3D StructuresJ. D. Carrico, N. W. Traeden, M. Aureli, K. K. Leang, (2015): Fused Filament Additive Manufacturing of Ionic Polymer-Metal Composite Soft Active 3D Structures. ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), September 21-23, 2015 in Colorado Springs, Colorado., Colorado Springs, Colorado, 2015, (Jim Carrico and Nick Traeden were winners of the 2015 SMASIS Conf. Best Student Paper Award!). (Type: Inproceeding | Links | BibTeX)

2014

11.Monolithic IPMC fins for propulsion and maneuvering in bio-inspired underwater robotics J. J. Hubbard, M. Fleming, V. Palmre, D. Pugal, K. J. Kim, K. K. Leang (2014): Monolithic IPMC fins for propulsion and maneuvering in bio-inspired underwater robotics. IEEE Journal of Oceanic Engineering, 39 (3), pp. 540 - 551, 2014. (Type: Journal Article | Links | BibTeX)
10.A spherical aerial terrestrial robotChristopher J. Dudley (2014): A spherical aerial terrestrial robot. University of Nevada, Reno, 2014. (Type: Masters Thesis | Links | BibTeX)

2013

9.Control of a Quadcopter Aerial Robot Using Optic Flow SensingBrandon M. Hurd (2013): Control of a Quadcopter Aerial Robot Using Optic Flow Sensing. University of Nevada, Reno, 2013. (Type: Masters Thesis | Links | BibTeX)
8.An IPMC-enabled bio-inspired bending/twisting fin for underwater applications V. Palmre, M. Fleming, J. J. Hubbard, D. Pugal, S. Kim, K. J. Kim, K. K. Leang (2013): An IPMC-enabled bio-inspired bending/twisting fin for underwater applications. Smart Mater. Struct., 22 , pp. 014003, 2013. (Type: Journal Article | Abstract | Links | BibTeX)
7.Augmented proportional-derivative control of a micro quadcopter N. L. Johnson, K. K. Leang (2013): Augmented proportional-derivative control of a micro quadcopter. ASME Dynamic Systems and Controls Conference, 2013. (Type: Inproceeding | BibTeX)
6.Unmanned aircraft systems in environmental science: cheaper, better, faster and more accessible large scale data collection to improve understanding of natural resources M. Walker, K. K. Leang, S. Tyler, S. Lether, P. Weisberg (2013): Unmanned aircraft systems in environmental science: cheaper, better, faster and more accessible large scale data collection to improve understanding of natural resources. CABNR/NAES/UNCE Main Station - Field Day, 2013. (Type: Inproceeding | BibTeX)

2012

5.Integrated sensing for IPMC actuators using strain gages for underwater applications K. K. Leang, Y. Shan, S. Song, K. J. Kim (2012): Integrated sensing for IPMC actuators using strain gages for underwater applications. IEEE/ASME Trans. Mechatronics, 17 (2), pp. 345 – 355, 2012. (Type: Journal Article | BibTeX)

2011

4.Design and characterization of sectored (patterned) IPMC actuators for propulsion and maneuvering in bio-inspired underwater systemsJoel J. Hubbard (2011): Design and characterization of sectored (patterned) IPMC actuators for propulsion and maneuvering in bio-inspired underwater systems. University of Nevada, Reno, 2011. (Type: Masters Thesis | Links | BibTeX)
3. K. J. Kim, D. Pugal, K. K. Leang (2011): A twistable artificial muscle for underwater robotic applications. US-Korea Summit on Science and Engineering (UKC), 2011. (Type: Inproceeding | BibTeX)
2.A twistable ionic polymer-metal composite artificial muscle for marine applications K. J. Kim, D. Pugal, K. K. Leang (2011): A twistable ionic polymer-metal composite artificial muscle for marine applications. Marine Technology Society Journal, 45 (4), pp. 83 – 98, 2011. (Type: Journal Article | BibTeX)

1999

1.The design of a mobile robot kit for mechatronics coursesK. K. Leang (1999): The design of a mobile robot kit for mechatronics courses. University of Utah, 1999. (Type: Masters Thesis | BibTeX)