30 citations · 48 across the 4 of their papers we have counts for
4 papers
Manipulation of unknown objects via contact configuration regulation
Neel Doshi, Orion Taylor, Alberto Rodriguez
We present an approach to robotic manipulation of unknown objects through regulation of the object's contact configuration: the location, geometry, and mode of all contacts between…
Hybrid Differential Dynamic Programming for Planar Manipulation Primitives
Neel Doshi, Francois R. Hogan, Alberto Rodriguez
We present a hybrid differential dynamic programming (DDP) algorithm for closed-loop execution of manipulation primitives with frictional contact switches. Planning and control of…
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…
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…