15 citations · 48 across the 7 of their papers we have counts for
7 papers
Holonomic Control of Arbitrary Configurations of Docked Modboats
Zhijie Qiao, Gedaliah Knizhnik, Mark Yim
The Modboat is a low-cost, underactuated, modular robot capable of surface swimming, docking to other modules, and undocking from them using only a single motor and two passive fli…
Collective Control for Arbitrary Configurations of Docked Modboats
Gedaliah Knizhnik, Mark Yim
The Modboat is a low-cost, underactuated, modular robot capable of surface swimming, docking to other modules, and undocking from them using only a single motor and two passive fli…
Flow-Based Control of Marine Robots in Gyre-Like Environments
Gedaliah Knizhnik, Peihan Li, Xi Yu +1
We present a flow-based control strategy that enables resource-constrained marine robots to patrol gyre-like flow environments on an orbital trajectory with a periodicity in a give…
Amplitude Control for Parallel Lattices of Docked Modboats
Gedaliah Knizhnik, Mark Yim
The Modboat is a low-cost, underactuated, modular robot capable of surface swimming. It is able to swim individually, dock to other Modboats, and undock from them using only a sing…
Thrust Direction Control of an Underactuated Oscillating Swimming Robot
Gedaliah Knizhnik, Mark Yim
The Modboat is an autonomous surface robot that turns the oscillation of a single motor into a controlled paddling motion through passive flippers. Inertial control methods develop…
Docking and Undocking a Modular Underactuated Oscillating Swimming Robot
Gedaliah Knizhnik, Mark Yim
We describe a docking mechanism and strategy to allow modular self-assembly for the Modboat: an inexpensive underactuated oscillating swimming robot powered by a single motor. Beca…
Design and Experiments with a Low-Cost Single-Motor Modular Aquatic Robot
Gedaliah Knizhnik, Mark Yim
We present a novel design for a low-cost robotic boat powered by a single actuator, useful for both modular and swarming applications. The boat uses the conservation of angular mom…