78 citations · 221 across the 28 of their papers we have counts for
5 papers · 2 filters
Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation
Thomas Libby, Aaron M. Johnson, Evan Chang-Siu +2
This paper develops a comparative framework for the design of actuated inertial appendages for planar, aerial reorientation. We define the Inertial Reorientation template, the simp…
Voronoi-Based Coverage Control of Heterogeneous Disk-Shaped Robots
Omur Arslan, Daniel E. Koditschek
In distributed mobile sensing applications, networks of agents that are heterogeneous respecting both actuation as well as body and sensory footprint are often modelled by recourse…
Coordinated Robot Navigation via Hierarchical Clustering
Omur Arslan, Dan P. Guralnik, Daniel E. Koditschek
We introduce the use of hierarchical clustering for relaxed, deterministic coordination and control of multiple robots. Traditionally an unsupervised learning method, hierarchical…
The Penn Jerboa: A Platform for Exploring Parallel Composition of Templates
Avik De, Daniel E. Koditschek
We have built a 12DOF, passive-compliant legged, tailed biped actuated by four brushless DC motors. We anticipate that this machine will achieve varied modes of quasistatic and dyn…
A Hybrid Systems Model for Simple Manipulation and Self-Manipulation Systems
Aaron M. Johnson, Samuel A. Burden, Daniel E. Koditschek
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despit…