3 papers
cs.RO2025
Robust Embodied Self-Identification of Morphology in Damaged Multi-Legged Robots
Sahand Farghdani, Mili Patel, Robin Chhabra
Multi-legged robots (MLRs) are vulnerable to leg damage during complex missions, which can impair their performance. This paper presents a self-modeling and damage identification a…
cs.RO2025
Evolutionary Gait Reconfiguration in Damaged Legged Robots
Sahand Farghdani, Robin Chhabra
Multi-legged robots deployed in complex missions are susceptible to physical damage in their legs, impairing task performance and potentially compromising mission success. This let…
cs.RO2025
Fast and Modular Whole-Body Lagrangian Dynamics of Legged Robots with Changing Morphology
Sahand Farghdani, Omar Abdelrahman, Robin Chhabra
Fast and modular modeling of multi-legged robots (MLRs) is essential for resilient control, particularly under significant morphological changes caused by mechanical damage. Conven…