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A list of all the posts and pages found on the site. For you robots out there is an XML version available for digesting as well.
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Posts
conference
Coordinate-Free Dynamics and Differential Flatness of a Class of 6DOF Aerial Manipulators
Published:
Recommended citation: Jake Welde and Vijay Kumar. "Coordinate-Free Dynamics and Differential Flatness of a Class of 6DOF Aerial Manipulators." IEEE International Conference on Robotics and Automation (ICRA), 2020. https://ieeexplore.ieee.org/abstract/document/9196705
Trajectory Planning for the Bidirectional Quadrotor as a Differentially Flat Hybrid System
Published:
Recommended citation: Katherine Mao, Jake Welde, M. Ani Hsieh, and Vijay Kumar. "Trajectory Planning for the Bidirectional Quadrotor as a Differentially Flat Hybrid System." IEEE International Conference on Robotics and Automation (ICRA), 2023. https://ieeexplore.ieee.org/document/10160320
The Role of Symmetry in Constructing Geometric Flat Outputs for Free-Flying Robotic Systems
Published:
Recommended citation: Jake Welde, Matthew D. Kvalheim, and Vijay Kumar. "The Role of Symmetry in Constructing Geometric Flat Outputs for Free-Flying Robotic Systems." IEEE International Conference on Robotics and Automation (ICRA), 2023. https://ieeexplore.ieee.org/document/10160628
journal
Autonomous Flight for Detection, Localization, and Tracking of Moving Targets With a Small Quadrotor
Published:
Recommended citation: Justin Thomas, Jake Welde, Giuseppe Loianno, Kostas Daniilidis, and Vijay Kumar. "Autonomous Flight for Detection, Localization, and Tracking of Moving Targets With a Small Quadrotor." IEEE Robotics and Automation Letters (RA-L), 2017. https://ieeexplore.ieee.org/document/7921549
Dynamically Feasible Task Space Planning for Underactuated Aerial Manipulators
Published:
Recommended citation: Jake Welde, James Paulos, and Vijay Kumar. "Dynamically Feasible Task Space Planning for Underactuated Aerial Manipulators." IEEE Robotics and Automation Letters (RA-L), 2021. https://ieeexplore.ieee.org/document/9325015
A Compositional Approach to Certifying Almost Global Asymptotic Stability of Cascade Systems
Published:
Recommended citation: Jake Welde, Matthew D. Kvalheim, and Vijay Kumar. "A Compositional Approach to Certifying Almost Global Asymptotic Stability of Cascade Systems." IEEE Control Systems Letters (L-CSS), 2023. https://ieeexplore.ieee.org/document/10146374
Almost Global Asymptotic Trajectory Tracking for Fully-Actuated Mechanical Systems on Homogeneous Riemannian Manifolds
Published:
Recommended citation: Jake Welde and Vijay Kumar. "Almost Global Asymptotic Trajectory Tracking for Fully-Actuated Mechanical Systems on Homogeneous Riemannian Manifolds." IEEE Control Systems Letters (L-CSS), 2024. https://ieeexplore.ieee.org/document/10518132
portfolio
Task Space Planning for Underactuated Aerial Manipulators
How can we plan?
Robockey
How can we stabilize a handheld camera during a long exposure automatically and in an ergonomic manner?
SharpShooter: an Invisible Tripod for Long-Exposure Photography
How can we stabilize a handheld camera during a long exposure automatically and in an ergonomic manner?
Stirling Generator
How can we stabilize a handheld camera during a long exposure automatically and in an ergonomic manner?
Autonomous Flight for Detection, Localization, and Tracking of Moving Targets With a Small Quadrotor
preprint
talks
Talk 1 on Relevant Topic in Your Field
Published:
This is a description of your talk, which is a markdown files that can be all markdown-ified like any other post. Yay markdown!
Conference Proceeding talk 3 on Relevant Topic in Your Field
Published:
This is a description of your conference proceedings talk, note the different field in type. You can put anything in this field.
teaching
MEAM 211: Engineering Mechanics, Dynamics
, University of Pennsylvania, 1900
MEAM 211 is an undergraduate-level dynamics course taken by all mechanical engineering sophomores, covering fundamental techniques for modeling the dynamics of mechanical systems. While much of the course is focused on symbolic analysis, a computational component has become more of a focus in recent years.
MEAM 520: Introduction to Robotics
Graduate course with some advanced undergrads, University of Pennsylvania, 1900
MEAM 520 is an introductory masters-level course taken by many first-semester robotics masters students and some advanced undergrads, spanning the mechanical, electrical, and computer science programs. Students arrive with a wide range of skills and prior experience.
workshop
Towards Automatic Identification of Globally Valid Geometric Flat Outputs via Numerical Optimization
Published:
Use Google Scholar for full citation
Recommended citation: Jake Welde and Vijay Kumar. "Towards Automatic Identification of Globally Valid Geometric Flat Outputs via Numerical Optimization." Geometric Representations Workshop, International Conference on Robotics and Automation (ICRA), 2023.
Geometric Methods of Systematic Controller Synthesis for Underactuated Robotic Systems
Published:
Recommended citation: Jake Welde. "Geometric Methods of Systematic Controller Synthesis for Underactuated Robotic Systems." RSS Pioneers, Robotics: Science and Systems (RSS), 2024. https://sites.google.com/view/rsspioneers2024/participants