Ruth Canahuire
Papers
10
Total Citations
93
H-Index
6
About
Ruth Canahuire is a robotics researcher whose work spans wheeled mobile robots, parallel manipulators, and legged systems, with a growing focus on soft and medical robotics. Her major contributions center on trajectory tracking control, where she has systematically compared classical and modern control strategies—including Linear Quadratic Regulators (LQR), PD controllers, and sliding mode control—across diverse robotic platforms. Her most cited work, "LQR Trajectory Tracking Control of an Omnidirectional Wheeled Mobile Robot" (26 citations), demonstrates her expertise in achieving precise motion for holonomic systems, while her comparative study on differential drive robots (22 citations) provides practical guidance for control design under non-holonomic constraints. Canahuire has also advanced accessibility in robotics through the open-source "Charlotte" quadruped robot (6 citations) and explored emerging frontiers including sensorless impedance control for collaborative robots, deep neural network modeling for soft laparoscopes, and haptic feedback systems for teleoperated surgery. Her recent work on a gecko-inspired climbing robot with active suction cups (2019) and a teleoperated system for soft tissue incision (2024) reflects her commitment to translating control theory into real-world applications in infrastructure inspection and medical robotics.
Research Focus
Key Achievements
Top Papers
- 1LQR Trajectory Tracking Control of an Omnidirectional Wheeled Mobile Robot26 citations · 2018
- 2
- 3Trajectory tracking control of a 3 DOF delta robot: a PD and LQR comparison14 citations · 2016
- 4Sensorless Impedance Control for the UR5 Robot8 citations · 2020
- 5Charlotte: Low-cost Open-source Semi-Autonomous Quadruped Robot6 citations · 2020
- 6
- 7Task-space Kinematic Control of a Quadruped Robot with a Floating Base4 citations · 2018
- 8Dynamic Modeling of a Soft Laparoscope: A Deep Neural Network Approach3 citations · 2022
- 9
- 10