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

36.A Comprehensive Review of Smart Polymeric and Gel Actuators for Soft Mechatronics Applications: Fundamentals, Free-form Fabrication, and Motion Control

J. D. Carrico, T. Tyler; K. K. Leang.

A Comprehensive Review of Smart Polymeric and Gel Actuators for Soft Mechatronics Applications: Fundamentals, Free-form Fabrication, and Motion Control Journal Article

Invited article to the Special Issue on Active Materials and Soft Mechatronics, International Journal of Smart and Nano Materials (Under review), 2017.

BibTeX

35.Design, Modeling, and Analysis of Inductive Resonant Coupling Wireless Power Transfer for Micro Aerial Vehicles (MAVs)

G. Plaizier, E. Andersen, B. Truong, S. Roundy; K. K. Leang

Design, Modeling, and Analysis of Inductive Resonant Coupling Wireless Power Transfer for Micro Aerial Vehicles (MAVs) Inproceedings

IEEE International Conference on Robotics and Automation (ICRA) (Under review), Brisbane Convention & Exhibition Centre, Australia, May 21-25, 2018, 2017.

BibTeX

34.Modular design and control of a fully-actuated hexrotor for aerial manipulation applications

J. Lee, K. K. Leang, W. Yim

Modular design and control of a fully-actuated hexrotor for aerial manipulation applications Journal Article

ASME J. Mechanisms and Robotics (Under review), 2017.

BibTeX

33.Position and Linear Velocity Estimation for Position-Based Visual Servo Control of an Aerial Robot in GPS-Denied Environments

D. Guo; K. K. Leang

Position and Linear Velocity Estimation for Position-Based Visual Servo Control of an Aerial Robot in GPS-Denied Environments Inproceedings

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.

BibTeX

32.Mutual Information Control for Target Acquisition: A Method to Localize a Gas/Chemical Plume Source Using a Mobile Sensor

J. R. Bourne; K. K. Leang

Mutual Information Control for Target Acquisition: A Method to Localize a Gas/Chemical Plume Source Using a Mobile Sensor Inproceedings

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.

BibTeX

31.Guest Editorial: Focused Section on Advances in Soft Robotics

X. Tan, K. K. Leang; Z. Yin

Guest Editorial: Focused Section on Advances in Soft Robotics Journal Article

International Journal of Intelligent Robotics and Applications, 1 (2), pp. 121 - 123, 2017.

BibTeX

30.Modeling and Adaptive Nonlinear Disturbance Observer for Closed-Loop Control of In-Ground-Effects on Multi-rotor UAVs

X. He, M. Calaf; K. K. Leang

Modeling and Adaptive Nonlinear Disturbance Observer for Closed-Loop Control of In-Ground-Effects on Multi-rotor UAVs Inproceedings

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.

BibTeX

29.Adaptive Vision-Based Leader- Follower Formation Control of Mobile Robots

H. Wang, D. Guo, X. Liang, W. Chen, G. Hu; K.K. Leang

Adaptive Vision-Based Leader- Follower Formation Control of Mobile Robots Journal Article

IEEE Transactions on Industrial Electronics, 64 (4), pp. 2893 - 2902, 2017.

Links | BibTeX

28.Smart Actuator Technologies: Design, Modeling, Fabrication, and Control for Mechatronic and Robotic Systems (expected 2018)

Kam K. Leang; Kwang J. Kim

Smart Actuator Technologies: Design, Modeling, Fabrication, and Control for Mechatronic and Robotic Systems (expected 2018) Book

Elsevier, 2017.

BibTeX

27.Adaptive-Repetitive Visual-Servo Control of Low-Flying Aerial Robots via Uncalibrated High-Flying Cameras

D. Guo, J. Bourne, H. Wang, W. Yim; K. K. Leang

Adaptive-Repetitive Visual-Servo Control of Low-Flying Aerial Robots via Uncalibrated High-Flying Cameras Journal Article

Journal of Nonlinear Science, Special issue on robotics: mechanics and control of locomotion, 27 (4), pp. 1235-1256, 2017.

Abstract | Links | BibTeX

26.Fused Filament 3D Printing of Ionic Polymer-Metal Composites for Soft Robotics

K. K. Leang; J. D. Carrico

Fused Filament 3D Printing of Ionic Polymer-Metal Composites for Soft Robotics Inproceedings

SPIE Smart Structures and Materials and Nondestructive Evaluation and Health Monitoring, Portland, OR, March 26-29, 2017., 2017.

BibTeX

25.3D-Printed Ionic Polymer-Metal Composite Soft Crawling Robot

J. D. Carrico, K. J. Kim; K. K. Leang,

3D-Printed Ionic Polymer-Metal Composite Soft Crawling Robot Inproceedings

IEEE International Conference on Robotics and Automation (ICRA), Sands Expo and Convention Centre, Marina Bay Sands in Singapore, May 29 - June 3, 2017, 2017.

BibTeX

24.Eye-in-Hand Tracking Control of a Free-Floating Space Manipulator

H. Wang, D. Guo, H. Xu, W. Chen, T. Liu; K. K. Leang,

Eye-in-Hand Tracking Control of a Free-Floating Space Manipulator Journal Article

IEEE Transactions on Aerospace and Electronic Systems (In press), 2017.

BibTeX

23.Particle filter based gas/chemical plume source localization for autonomous mobile robots

J. R. Bourne; K. K. Leang

Particle filter based gas/chemical plume source localization for autonomous mobile robots Inproceedings

IEEE International Conference on Advanced Intelligent Mechatronics, Munich, Germany, July 3-7, 2017 (under review), 2017.

BibTeX

22.Repetitive Control Design and Implementation for Periodic Motion Tracking in Aerial Vehicles

X. He, D. Guo; K. K. Leang

Repetitive Control Design and Implementation for Periodic Motion Tracking in Aerial Vehicles Inproceedings

American Control Conference May 24-26, Seattle, WA, 2017, 2017.

BibTeX

21.A Unified Leader-Follower Scheme for Mobile Robots with Uncalibrated On-board Camera

D. Guo, H. Wang, W. Chen, M. Liu, Z. Xia, K. K. Leang

A Unified Leader-Follower Scheme for Mobile Robots with Uncalibrated On-board Camera Inproceedings

IEEE International Conference on Robotics and Automation (ICRA), Sands Expo and Convention Centre, Marina Bay Sands in Singapore, May 29 - June 3, pp. 3792 - 3797, 2017.

BibTeX

20.On-Board Model-Based Automatic Collision Avoidance: Application in Remotely Piloted Unmanned Aerial Vehicles

D. Bareiss, J. Bourne, K. K. Leang

On-Board Model-Based Automatic Collision Avoidance: Application in Remotely Piloted Unmanned Aerial Vehicles Journal Article

Autonomous robots (In press), 41 (7), pp. 1539-1554, 2017.

Abstract | Links | BibTeX

2016

19.Design and modeling of the dynamic underactuated flying-walking (DUCK) robot

Christopher J. Pratt

Design and modeling of the dynamic underactuated flying-walking (DUCK) robot Masters Thesis

University of Utah, 2016.

Links | BibTeX

18.Adaptive Repetitive Visual-Servo Control of a Low-Flying Unmanned Aerial Vehicle with an Uncalibrated High-Flying Camera

D. Guo, W. Yim,; K. K. Leang

Adaptive Repetitive Visual-Servo Control of a Low-Flying Unmanned Aerial Vehicle with an Uncalibrated High-Flying Camera Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 9-14, 2016, Daejeon, Korea, pp. 4258 - 4265, 2016.

BibTeX

17.Study of Improved Pilot Performance using Automatic Collision Avoidance for Tele-operated Unmanned Aerial Vehicles

Daman Bareiss, Jur van den Berg, Jake Abbott, Kam K. Leang

Study of Improved Pilot Performance using Automatic Collision Avoidance for Tele-operated Unmanned Aerial Vehicles Inproceedings

2016 IEEE International Symposium on Safety, Security and Rescue Robotics, October 23-27, 2016, EPFL, Lausanne, Switzerland, 2016.

Links | BibTeX

16.Model-based collision avoidance for dynamic single- and multi-robot systems: theory and application in ground and aerial robots

D. Bareiss

Model-based collision avoidance for dynamic single- and multi-robot systems: theory and application in ground and aerial robots PhD Thesis

University of Utah, 2016.

Abstract | Links | BibTeX

15.Dynamic underactuated flying-walking (DUCK) robot

C. J. Pratt; K. K. Leang

Dynamic underactuated flying-walking (DUCK) robot Inproceedings

2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, pp. 3267 - 3274, 2016.

Links | BibTeX

2015

14.A  Micro Spherical Rolling and Flying Robot

Christopher J. Dudley, Alex Woods; Kam K. Leang

A Micro Spherical Rolling and Flying Robot Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 28 - October 02, Hamburg, Germany, 2015.

Links | BibTeX

13.Stochastic automatic collision avoidance for  tele-operated unmanned aerial vehicles

Daman Bareiss, Jur van den Berg; Kam K. Leang

Stochastic automatic collision avoidance for tele-operated unmanned aerial vehicles Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 28 - October 02, pp. 4818-4825, Hamburg, Germany, 2015.

Links | BibTeX

12.Fused Filament Additive Manufacturing of Ionic Polymer-Metal Composite Soft Active 3D Structures

J. D. Carrico, N. W. Traeden, M. Aureli; K. K. Leang,

Fused Filament Additive Manufacturing of Ionic Polymer-Metal Composite Soft Active 3D Structures Inproceedings

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!).

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

Monolithic IPMC fins for propulsion and maneuvering in bio-inspired underwater robotics Journal Article

IEEE Journal of Oceanic Engineering, 39 (3), pp. 540 - 551, 2014.

Links | BibTeX

10.A spherical aerial terrestrial robot

Christopher J. Dudley

A spherical aerial terrestrial robot Masters Thesis

University of Nevada, Reno, 2014.

Links | BibTeX

2013

9.Control of a Quadcopter Aerial Robot Using Optic Flow Sensing

Brandon M. Hurd

Control of a Quadcopter Aerial Robot Using Optic Flow Sensing Masters Thesis

University of Nevada, Reno, 2013.

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

An IPMC-enabled bio-inspired bending/twisting fin for underwater applications Journal Article

Smart Mater. Struct., 22 , pp. 014003, 2013.

Abstract | Links | BibTeX

7.Augmented proportional-derivative control of a micro quadcopter

N. L. Johnson; K. K. Leang

Augmented proportional-derivative control of a micro quadcopter Inproceedings

ASME Dynamic Systems and Controls Conference, 2013.

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

Unmanned aircraft systems in environmental science: cheaper, better, faster and more accessible large scale data collection to improve understanding of natural resources Inproceedings

CABNR/NAES/UNCE Main Station - Field Day, 2013.

BibTeX

2012

5.Integrated sensing for IPMC actuators using strain gages for underwater applications

K. K. Leang; Y. Shan; S. Song; K. J. Kim

Integrated sensing for IPMC actuators using strain gages for underwater applications Journal Article

IEEE/ASME Trans. Mechatronics, 17 (2), pp. 345 – 355, 2012.

BibTeX

2011

4.Design and characterization of sectored (patterned) IPMC actuators for propulsion and maneuvering in bio-inspired underwater systems

Joel J. Hubbard

Design and characterization of sectored (patterned) IPMC actuators for propulsion and maneuvering in bio-inspired underwater systems Masters Thesis

University of Nevada, Reno, 2011.

Links | BibTeX

3.

K. J. Kim; D. Pugal; K. K. Leang

A twistable artificial muscle for underwater robotic applications Inproceedings

US-Korea Summit on Science and Engineering (UKC), 2011.

BibTeX

2.A twistable ionic polymer-metal composite artificial muscle for marine applications

K. J. Kim; D. Pugal; K. K. Leang

A twistable ionic polymer-metal composite artificial muscle for marine applications Journal Article

Marine Technology Society Journal, 45 (4), pp. 83 – 98, 2011.

BibTeX

1999

1.The design of a mobile robot kit for mechatronics courses

K. K. Leang

The design of a mobile robot kit for mechatronics courses Masters Thesis

University of Utah, 1999.

BibTeX