Joohyung Kim

TL;DR: TFESI for lumbosacral radiculopathy with a preganglionics approach is more effective than TFESI with a ganglionic approach at short-term follow-up.

TL;DR: Team WPI-CMU was the only team in the DRC Finals that attempted all tasks, scored points, did not require physical human intervention (a reset), and did not fall in the two missions during the two days of tests.

TL;DR: The design and hardware implementation of the proposed walking and manipulation controllers that are based on a cascade of online optimizations are described, which have been implemented on the Atlas robot, a full size humanoid robot built by Boston Dynamics, and used in the DARPA Robotics Challenge Finals.

TL;DR: The new controller consists of three hierarchies: a center of mass (CoM) trajectory planner that follows a sequence of desired foot steps, a receding-horizon controller that optimizes the next foot placement to minimize future CoM tracking errors, and an inverse dynamics based full body controller that generates instantaneous joint commands to track these motions while obeying physical constraints.

TL;DR: Experimental results from collision tests show that this module significantly reduces the impact forces due to collision, and using the measured pressure information from the module, the robotic system to which these modules are attached is capable of very gentle physical interaction with soft objects.