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Quasi-Direct Drive for Low-Cost Compliant Robotic Manipulation


Apr 11, 2019
David V. Gealy, Stephen McKinley, Brent Yi, Philipp Wu, Phillip R. Downey, Greg Balke, Allan Zhao, Menglong Guo, Rachel Thomasson, Anthony Sinclair, Peter Cuellar, Zoe McCarthy, Pieter Abbeel

* This is our long version - 8 pages. Our 6 page version without a discussion of thermal limits was accepted to ICRA 2019. 11 Figures 

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Fast and Reliable Autonomous Surgical Debridement with Cable-Driven Robots Using a Two-Phase Calibration Procedure


Feb 24, 2018
Daniel Seita, Sanjay Krishnan, Roy Fox, Stephen McKinley, John Canny, Ken Goldberg

* Code, data, and videos are available at https://sites.google.com/view/calib-icra/. Final version for ICRA 2018 

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