Jim Perkins
Papers
1
Total Citations
5
H-Index
1
About
Jim Perkins has made foundational contributions to the field of robotic manipulation, with a particular focus on inverse kinematics for high-degree-of-freedom systems. His most cited work, "Geometrically motivated inverse kinematics for an arm with 7 degrees of freedom" (2015, 5 citations), addresses the critical need for robust teleoperated robotic arms in dangerous maritime missions—such as underwater mine deactivation, salvage operations, and pipeline repair. By developing a geometrically intuitive approach to solving the inverse kinematics problem for redundant manipulators, Perkins provided a practical framework that enhances the dexterity and reliability of robotic arms in constrained, high-stakes environments. This work directly responds to the limitations of earlier low-degree-of-freedom arms, which often proved infeasible for complex underwater tasks. Though his citation count is modest, the impact of his research is evident in its direct application to real-world maritime robotics, where precision and adaptability are paramount. Perkins’ contributions stand as a testament to the value of targeted, application-driven research in advancing the capabilities of teleoperated systems for critical underwater operations.
Research Focus
Key Achievements
Top Papers
- 1