5 citations · 10 across the 10 of their papers we have counts for
10 papers
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…
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…
Rough-Terrain Locomotion and Unilateral Contact Force Regulations With a Multi-Modal Legged Robot
Kaier Liang, Eric Sihite, Pravin Dangol +2
Despite many accomplishments by legged robot designers, state-of-the-art bipedal robots are prone to falling over, cannot negotiate extremely rough terrains and cannot directly reg…
Mechanical design and fabrication of a kinetic sculpture with application to bioinspired drone design
Andrew Lessieur, Eric Sihite, Pravin Dangol +2
Biologically-inspired robots are a very interesting and difficult branch of robotics dues to its very rich dynamical and morphological complexities. Among them, flying animals, suc…
Orientation stabilization in a bioinspired bat-robot using integrated mechanical intelligence and control
Eric Sihite, Andrew Lessieur, 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…
Towards thruster-assisted bipedal locomotion for enhanced efficiency and robustness
Pravin Dangol, Alireza Ramezani
In this paper, we will report our efforts in designing closed-loop feedback for the thruster-assisted walking of bipedal robots. We will assume for well-tuned supervisory controlle…
Performance satisfaction in Harpy, a thruster-assisted bipedal robot
Pravin Dangol, Alireza Ramezani, Nader Jalili
We will report our efforts in designing feedback for the thruster-assisted walking of a bipedal robot. We will assume for well-tuned supervisory controllers and will focus on fine-…