30 citations · 69 across the 13 of their papers we have counts for
7 papers · 1 filter
mCLARI: a shape-morphing insect-scale robot capable of omnidirectional terrain-adaptive locomotion in laterally confined spaces
Heiko Kabutz, Alexander Hedrick, Parker McDonnell +1
Soft compliant microrobots have the potential to deliver significant societal impact when deployed in applications such as search and rescue. In this research we present mCLARI, a…
Femtosecond laser fabricated nitinol living hinges for millimeter-sized robots
Alexander Hedrick, Heiko Kabutz, Lawrence Smith +2
Nitinol is a smart material that can be used as an actuator, a sensor, or a structural element, and has the potential to significantly enhance the capabilities of microrobots. Femt…
Geometrically Modulable Gait Design for Quadrupeds
Hari Krishna Hari Prasad, Ross L. Hatton, Kaushik Jayaram
Miniature-legged robots are constrained by their onboard computation and control, thus motivating the need for simple, first-principles-based geometric models that connect \emph{pe…
Design of CLARI: A miniature modular origami passive shape-morphing robot
Heiko Kabutz, Kaushik Jayaram
Miniature robots provide unprecedented access to confined environments and show promising potential for novel applications such as search-and-rescue and high-value asset inspection…
A Population-Level Analysis of Neural Dynamics in Robust Legged Robots
Eugene R. Rush, Christoffer Heckman, Kaushik Jayaram +1
Recurrent neural network-based reinforcement learning systems are capable of complex motor control tasks such as locomotion and manipulation, however, much of their underlying mech…
Geometric Mechanics of Contact-Switching Systems
Hari Krishna Hari Prasad, Ross L. Hatton, Kaushik Jayaram
Discrete and periodic contact switching is a key characteristic of steady-state legged locomotion. This paper introduces a framework for modeling and analyzing this contact-switchi…
From Data-Fitting to Discovery: Interpreting the Neural Dynamics of Motor Control through Reinforcement Learning
Eugene R. Rush, Kaushik Jayaram, J. Sean Humbert
In motor neuroscience, artificial recurrent neural networks models often complement animal studies. However, most modeling efforts are limited to data-fitting, and the few that exa…