5 citations · 27 across the 25 of their papers we have counts for
9 papers · 1 filter
Optimization-free Ground Contact Force Constraint Satisfaction in Quadrupedal Locomotion
Eric Sihite, Pravin Dangol, Alireza Ramezani
We are seeking control design paradigms for legged systems that allow bypassing costly algorithms that depend on heavy on-board computers widely used in these systems and yet being…
Efficient Modeling of Morphing Wing Flight Using Neural Networks and Cubature Rules
Paul Ghanem, Yunus Bicer, Deniz Erdogmus +1
Fluidic locomotion of flapping Micro Aerial Vehicles (MAVs) can be very complex, particularly when the rules from insect flight dynamics (fast flapping dynamics and light wings) ar…
Unilateral Ground Contact Force Regulations in Thruster-Assisted Legged Locomotion
Eric Sihite, Pravin Dangol, Alireza Ramezani
In this paper, we study the regulation of the Ground Contact Forces (GRF) in thruster-assisted legged locomotion. We will employ Reference Governors (RGs) for enforcing GRF constra…
Reduced-Order-Model-Based Feedback Design for Thruster-Assisted Legged Locomotion
Pravin Dangol, Alireza Ramezani
Real-time constraint satisfaction for robots can be quite challenging due to the high computational complexity that arises when accounting for the system dynamics and environmental…
Generative Design of NU's Husky Carbon, A Morpho-Functional, Legged Robot
Alireza Ramezani, Pravin Dangol, Eric Sihite +2
We report the design of a morpho-functional robot called Husky Carbon. Our goal is to integrate two forms of mobility, aerial and quadrupedal-legged locomotion, within a single pla…
An Integrated Mechanical Intelligence and Control Approach Towards Flight Control of Aerobat
Eric Sihite, Atefe Darabi, Pravin Dangol +2
Our goal in this work is to expand the theory and practice of robot locomotion by addressing critical challenges associated with the robotic biomimicry of bat aerial locomotion. Ba…