Chase Frazelle
Chase received his B.Sc. and M.S. degree in electrical engineering from Clemson University, Clemson, SC, in 2015 and 2017, respectively, and earned his PhD in electrical engineering at Clemson in 2021. His research is focused on the control and modeling of extensible continuum robots with the aim to improve the reliability and automation of such manipulators for space exploration and inspection. Other research interests include human-robot interfacing, embedded systems, and interaction with distributed systems. Chase currently serves as a Post-doctoral fellow working on a project funded through the South Carolina Agribusiness Center for Research and Entrepreneurship (ACRE).
Projects
Publications
C. Frazelle, I. Walker, A. AlAttar, and P. Kormushev,
Kinematic-Model-Free Control for Space Operations with Continuum Manipulators,
in Proc. IEEE Aerospace Conf., Big Sky, MO, Mar. 2021, pp. 1-11.
C. Frazelle, J. Rogers, I. Karamouzas, and I. Walker,
Optimizing a Continuum Manipulator's Search Policy Through Model-Free Reinforcement Learning, in Proc. IEEE/RSJ Int.
Conf. on Intelligent Robots and Systems, Las Vegas, NV, Oct. 2020, pp. 5564-5571.
C. Wang, C. Frazelle, J. Wagner, and I. Walker,
A Discrete-Jointed Robot Model Based Control Strategy for Spatial Continuum Manipulators,
in Proc. IEEE Industrial Electronics Conf. Singapore, Oct 2020, pp: 543-549.
C. Wang, C. Frazelle, J. Wagner and I. Walker,
Dynamic Control of Multi-Section Three-Dimensional Continuum Manipulators Based on Virtual Discrete-Jointed Robot Models,
in IEEE/ASME Transactions on Mechatronics, doi: 10.1109/TMECH.2020.2999847.
C. G. Frazelle, A. D. Kapadia, and I. D. Walker.
A Haptic Continuum Interface for the Teleoperation of Extensible Continuum Manipulators, in IEEE Robotics and Automation Letters,
vol. 5, no. 2, April 2020, pp. 1875-1882.
Z. Hawks, C. Frazelle, K.E. Green, and I.D. Walker.
Motion Planning for a Continuum Robotic Mobile Lamp: Defining and Navigating the Configuration Space.
Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macao, China, November 2019, pp. 2559-2566.
Y. Wang, C. Frazelle, R. Sirohi, L. Li, I.D. Walker, and K.E. Green.
Design and Characterization of a Novel Robotic Surface for Application to Compressed Physical Environments.
Proceedings IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 2019, pp. 102-108.
C. Wang, J. Wagner, C. Frazelle, and I. Walker. Continuum Robot Control Based on Virtual Discrete-Jointed Robot Models.
Proceedings IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society, Washington, DC, 2018, pp. 2508-2515.
C. G. Frazelle, A. D. Kapadia, and I. D. Walker.
A Nonlinear Control Strategy for Extensible Continuum Robots. Proceedings IEEE International Conference on Robotics and Automation
(ICRA), Brisbane, Australia, May 2018, pp. 7727-7734.
M. B. Wooten, C. G. Frazelle, I. D. Walker, A. D. Kapadia, and J. H. Lee.
Exploration and Inspection with Vine-Inspired Continuum Robots. Proceedings IEEE International Conference on Robotics and
Automation (ICRA), Brisbane, Australia, May 2018, pp. 5526-5523.
C. G. Frazelle, A. D. Kapadia, and I. D. Walker.
Developing a Kinematically Similar Master Device for Extensible Continuum Robot Manipulators.
ASME Journal of Mechanisms and Robotics, 10(2), doi: 10.1115/1.4039075, April 2018, pp. 025005-1-8.
A. Chawla, C. Frazelle, and I. Walker.
A Comparison of Constant Curvature Forward Kinematics for Multisection Continuum Manipulators. In the Proceedings of the
IEEE International Conference on Robotic Computing (IRC), Laguna Hills, CA, January 2018, pp. 217-223.
C. De Aguiar, R. Fateminasab, C. Frazelle, R. Scott, Y. Wang, M. Wooten, K.E. Green, and I.D. Walker.
The Networked, Robotic home+ Furniture Suite: a Distributed, Assistive Technology Facilitating Aging in Place.
Proceedings IEEE International Conference on Automation Science and
Engineering (CASE), Fort Worth, TX, August 2016, pp. 1067-1072.
C. G. Frazelle, A. D. Kapadia, K. E. Fry, and I. D. Walker.
Teleoperation Mappings from Rigid Link Robots to their Extensible Continuum Counterparts. In the Proceedings of the
IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, May 2016.