3 papers
cs.RO2025
Riemannian Variational Calculus: Optimal Trajectories Under Inertia, Gravity, and Drag Effects
Jinwoo Choi, Alejandro Cabrera, Ross L. Hatton
Robotic motion optimization often focuses on task-specific solutions, overlooking fundamental motion principles. Building on Riemannian geometry and the calculus of variations (oft…
cs.RO2025
The Geometry of Optimal Gait Families for Steering Kinematic Locomoting Systems
Jinwoo Choi, Siming Deng, Nathan Justus +2
Motion planning for locomotion systems typically requires translating high-level rigid-body tasks into low-level joint trajectories-a process that is straightforward for car-like r…
cs.RO2024
Optimal Control Approach for Gait Transition with Riemannian Splines
Jinwoo Choi, Ross L. Hatton
Robotic locomotion often relies on sequenced gaits to efficiently convert control input into desired motion. Despite extensive studies on gait optimization, achieving smooth and ef…