21 citations
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cs.RO2024
cHyRRT and cHySST: Two Motion Planning Tools for Hybrid Dynamical Systems
Beverly Xu, Nan Wang, Ricardo Sanfelice
This paper presents two implementations of the recently developed motion planning algorithms HyRRT arXiv:2210.1508(2) and HySST arXiv:2305.1864(9). Specifically, cHyRRT, an impleme…
cs.RO2021
SiMPLeR: A Series-Elastic Manipulator with Passive Variable Stiffness for Legged Robots
Sajiv Shah, Brad Saund
We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, th…