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PhD Defense: Redundant Design and Adaptive Control of an Interleaved Continuum Rigid Manipulator

This past Monday I completed my PhD in Mechanical Engineering, bringing to a close my years as a student and my time at UW-Madison.  While I expect to break out parts of my research and dissertation in greater detail in the coming weeks, for now I want to post my dissertation and a recording of […]

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PhD Preliminary Examination

I gave my prelim presentation this past January, recapping my work with Prof. Zinn on Interleaved Continuum-Rigid Manipulation. The presentation went well and I enjoyed the audience’s and committee’s questions, most of which centered on things that would be very fun to look at given infinite time. As I hope to graduate soon, I’ll only […]

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IEEE ICRA 2015: Closed Loop Task-Space Control of an Interleaved Manipulator

I recapped my presentation at the 2015 IEEE ICRA conference over at the Robotics and Intelligent Systems website… ICRA 2015 – Closed Loop Task Space Control of an Interleaved Continuum-Rigid Manipulator

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Control Diagrams in LaTeX

[latexpage] Over Christmas break I’ve become dangerous with $\LaTeX$ document typesetting (wikipedia).  There’s something incredibly attractive about having the entire source of a document embedded in a single, text file.  Indeed the learning curve has been a bit steep (it may yet get stepper…), but I’m now able to reasonably produce dynamics and controls documents […]

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