contact_info

 

Research

I'm currently a postdoctoral researcher with Disney Research. I was previously a Ph.D. student at the MIT Computer Science and Artificial Intelligence Lab, working in the Robot Locomotion Group.


THE PERCHING GLIDER

flowvis My Ph.D. thesis work. The goal of the project was to build, model, and autonomously control a glider to land on a perch like a bird. More info on the project is available here.

Project Publications:

  • Rick Cory and Russ Tedrake. Landing on a dime: Control of bird-inspired perching maneuvers for fixed-wing aircraft. Submitted to Bioinspiration & Biomimetics, Special Issue on Bioinspired Flight. Under Review, 2010.

  • Rick Cory. Supermaneuverable Perching. PhD Thesis, MIT, June 2010. [pdf] [video]

  • John W. Roberts, Rick Cory, and Russ Tedrake. On the controllability of fixed-wing perching. In Proceedings of the American Control Conference (ACC), 2009. [ pdf ]

  • Rick Cory and Russ Tedrake. Experiments in fixed-wing UAV perching. In Proceedings of the AIAA Guidance, Navigation, and Control Conference. AIAA, 2008. [ pdf ]

 

FLAPPING-WING PERCHING PLANE

flapper More info coming soon.

 

ROBOTIC BIRDS AND PLANES

phoenix We've been working on robotic birds and planes that autonomously execute maneuvers. See the Agile Flight Project page for more info.

Project Publications:

  • Russ Tedrake, Zack Jackowski, Rick Cory, John William Roberts, and Warren Hoburg. Learning to fly like a bird. Under review, 2009. [pdf]

  • Zack Jackowski, Rick Cory, and Russ Tedrake. Mechanical Design of an autonomous ornithopter. In progress.

  • Rick Cory and Russ Tedrake. On the controllability of agile fixed-wing flight. In Proceedings of the 2007 Symposium on Flying Insects and Robots (FIR), August 2007. [pdf]

 

NASA ROBONAUT

robonaut I spent a summer working on autonomous manipulation capabilities and posture control for NASA's Robonaut. More info on this robot available here.

 

ATR/USC HUMANOID ROBOT

DB

I spent the last few years of my undergraduate time at USC working on humanoid robot control, as a member of the Computational Learning and Motor Control Lab, as well as ATR in Japan.

This video shows the robot tracking a figure-eight trajectory with its end-effector, and being robust to deliberate disturbances.

Project Publications:

  • Jun Nakanishi, Rick Cory, Michael Mistry, Jan Peters, and Stefan Schaal. Operational space control: A theoretical and empirical comparison. The International Journal of Robotics Research, 2008. [pdf]

  • Jan Peters, Michael Mistry, Firdaus Udwadia, Rick Cory, Jun Nakanishi, and Stefan Schaal. A unifying methodology for the control of robotic systems. IEEE/RJS International Conference on Intelligent Robots and Sytems (IROS) 2005. [pdf]

  • Jun Nakanishi, Rick Cory, Michael Mistry, Jan Peters, and Stefan Schaal. Comparative exeprimental evaluations of task space control with redundancy resolution. IEEE/RJS International Conference on Intelligent Robots and Systems (IROS) 2005. [pdf]