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Steven Hietpas - IEEE Xplore Author Profile

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The ability to grasp objects broadens the application range of unmanned aerial vehicles (UAVs) by allowing interactions with the environment. The difficulty in performing a midair grasp is the high probability of impact between the UAV's foot and the target. For a successful grasp, the foot must smoothly absorb the energy of impact and simultaneously engage with the target in a short period of tim...Show More
A small-scale jumping–crawling robot expands the accessible region of a robot by selectively performing suitable locomotion type. However, the parallel elastic actuation for jumping, which amplifies a lightweight actuator's limited power, couples the motion between the energy storing process and the crouching of the jumping linkage. This coupling hinders the quick transition of the locomotion from...Show More
The practical operation of wearable robots requires intuitive, compact, yet reliable control interfaces. However, current myoelectric interfaces based on surface electromyography (EMG) often fail to achieve these requirements by demanding multiple sensors and exhibiting unreliable performance under limb posture changes. In this study, we show that a myoelectric interface on the musculotendinous ju...Show More
The CaseCrawler is a lightweight and low-profile movable platform with a high payload capacity; it is capable of crawling around carrying a smartphone. The body of the robot resembles a phone case but it has crawling legs stored in its back. It is designed with a deployable, in-plane transmission that is capable of crawling locomotion. The CaseCrawler's leg structure has a knee joint that can pass...Show More
In this paper, we present a milliscale-integrated jumping-crawling robot that can adjust its launch trajectory and upright itself. This multimodal robot shows an enhanced performance of overcoming obstacles compared with a robot with a single locomotion mode. To make this possible, the robot uses a newly developed jumping module with improved energy storing capacity and a height-adjustable active ...Show More