52 citations · 115 across the 20 of their papers we have counts for
4 papers · 2 filters
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…