30 citations · 69 across the 13 of their papers we have counts for
Showing 2019Show all
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cs.RO2019★ 16 cited
Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot
Neel Doshi, Kaushik Jayaram, Benjamin Goldberg +3
Planning locomotion trajectories for legged microrobots is challenging because of their complex morphology, high frequency passive dynamics, and discontinuous contact interactions…
cs.RO2019★ 30 cited
Effective Locomotion at Multiple Stride Frequencies Using Proprioceptive Feedback on a Legged Microrobot
Neel Doshi, Kaushik Jayaram, Samantha Castellanos +2
Limitations in actuation, sensing, and computation have forced small legged robots to rely on carefully tuned, mechanically mediated leg trajectories for effective locomotion. Rece…