52 citations · 115 across the 20 of their papers we have counts for
11 papers · 1 filter
Learning to Exploit Passive Dynamics for Energy-Efficient Target Hopping of a Spring-Legged Quadcopter
Ruigang Chen, Qi Zhang, Zhicheng Zhong +3
Combining aerial thrust with spring-loaded hopping makes monopedal quadcopters promising for locomotion over complex terrain, but heuristic proportional-integral-derivative (PID) t…
Dynamics-Informed Reinforcement Learning for Agile and Energy-Efficient Locomotion of a Monopedal Hopping Quadcopter
Ruigang Chen, Qi Zhang, Zhicheng Zhong +3
Although aerial-legged robots offer combined agility and efficiency, controlling high-speed hopping under complex hybrid dynamics is challenging. Reinforcement Learning (RL) is pro…
Dynamics, stability, and energy efficiency of an energy-recycling rimless wheel with spring-clutch legs
Tongchen Lin, Yanqiu Zheng, Chuhan Zhang +3
This paper proposes an energy-recycling rimless wheel with spring-clutch legs. The proposed mechanism uses a lockable clutch to store part of the impact-induced elastic energy afte…
Sample Efficient Learning of Body-Environment Interaction of an Under-Actuated System
Zvi Chapnik, Yizhar Or, Shai Revzen
Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-fric…
Dynamics and multi-stability of a rotor-actuated Twistcar robot with passive steering joint
Anna Zigelman, Zitao Yu, Rom Levy +1
The nonlinear dynamics of many under-actuated wheeled platforms are governed by nonholonomic constraints of no-skid for passively rolling wheels, coupled with momentum balance. In…
Analysis and experiments of the dissipative Twistcar: direction reversal and asymptotic approximations
Rom Levy, Ari Dantus, Zitao Yu +1
Underactuated wheeled vehicles are commonly studied as nonholonomic systems with periodic actuation. Twistcar is a classical example inspired by a riding toy, which has been analyz…
Locomotion Dynamics of an Underactuated Three-Link Robotic Vehicle
Leonid Raz, Yizhar Or
The wheeled three-link snake robot is a well-known example of an underactuated system modelled using nonholonomic constraints, preventing lateral slippage (skid) of the wheels. A k…
Geometric analysis of gaits and optimal control for three-link kinematic swimmers
Oren Wiezel, Suresh Ramasamy, Nathan Justus +2
Many robotic systems locomote using gaits - periodic changes of internal shape, whose mechanical interaction with the robot's environment generate characteristic net displacements.…
Experimental Verification of Stability Theory for a Planar Rigid Body with Two Unilateral Frictional Contacts
Yizhar Or, Peter L. Varkonyi
Stability of equilibrium states in mechanical systems with multiple unilateral frictional contacts is an important practical requirement, with high relevance for robotic applicatio…
Dynamic Inchworm Crawling: Performance Analysis and Optimization of a Three-link Robot
Benny Gamus, Amir D. Gat, Yizhar Or
Inchworm crawling allows for both quasistatic and dynamic gaits at a wide range of actuation frequencies. This locomotion mechanism is common in nonskeletal animals and exploited e…
Dynamic Walking on Slippery Surfaces: Demonstrating Stable Bipedal Gaits with Planned Ground Slippage
Wen-Loong Ma, Yizhar Or, Aaron D. Ames
Dynamic bipedal robot locomotion has achieved remarkable success due in part to recent advances in trajectory generation and nonlinear control for stabilization. A key assumption u…