101 citations · 237 across the 8 of their papers we have counts for
8 papers
The Robustness of Tether Friction in Non-idealized Terrains
Justin J. Page, Laura K. Treers, Steven Jens Jorgensen +2
Reduced traction limits the ability of mobile robotic systems to resist or apply large external loads, such as tugging a massive payload. One simple and versatile solution is to wr…
Mechanical principles of dynamic terrestrial self-righting using wings
Chen Li, Chad C. Kessens, Ronald S. Fearing +1
Terrestrial animals and robots are susceptible to flipping-over during rapid locomotion in complex terrains. However, small robots are less capable of self-righting from an upside-…
Terradynamically streamlined shapes in animals and robots enhances traversability through densely cluttered terrain
Chen Li, Andrew O. Pullin, Duncan W. Haldane +3
Many animals, modern aircraft, and underwater vehicles use streamlined body shapes that reduce fluid dynamic drag to achieve fast and effective locomotion in air and water. Similar…
Body Lift and Drag for a Legged Millirobot in Compliant Beam Environment
Can Koc, Cem Koc, Brian Su +2
Much current study of legged locomotion has rightly focused on foot traction forces, including on granular media. Future legged millirobots will need to go through terrain, such as…
OpenRoACH: A Durable Open-Source Hexapedal Platform with Onboard Robot Operating System (ROS)
Liyu Wang, Yuxiang Yang, Gustavo Correa +2
OpenRoACH is a 15-cm 200-gram self-contained hexapedal robot with an onboard single-board computer. To our knowledge, it is the smallest legged robot with the capability of running…
Learning to Adapt in Dynamic, Real-World Environments Through Meta-Reinforcement Learning
Anusha Nagabandi, Ignasi Clavera, Simin Liu +4
Although reinforcement learning methods can achieve impressive results in simulation, the real world presents two major challenges: generating samples is exceedingly expensive, and…
Learning Image-Conditioned Dynamics Models for Control of Under-actuated Legged Millirobots
Anusha Nagabandi, Guangzhao Yang, Thomas Asmar +4
Millirobots are a promising robotic platform for many applications due to their small size and low manufacturing costs. Legged millirobots, in particular, can provide increased mob…
Neural Network Dynamics for Model-Based Deep Reinforcement Learning with Model-Free Fine-Tuning
Anusha Nagabandi, Gregory Kahn, Ronald S. Fearing +1
Model-free deep reinforcement learning algorithms have been shown to be capable of learning a wide range of robotic skills, but typically require a very large number of samples to…