78 citations · 221 across the 28 of their papers we have counts for
3 papers · 1 filter
Formal composition of hybrid systems
Jared Culbertson, Paul Gustafson, Daniel E. Koditschek +1
We develop a compositional framework for formal synthesis of hybrid systems using the language of category theory. More specifically, we provide mutually compatible tools for hiera…
Towards a terramechanics for bio-inspired locomotion in granular environments
Chen Li, Yang Ding, Nick Gravish +6
Granular media (GM) present locomotor challenges for terrestrial and extraterrestrial devices because they can flow and solidify in response to localized intrusion of wheels, limbs…
A Tunably Compliant Origami Mechanism for Dynamically Dexterous Robots
Wei-Hsi Chen, Shivangi Misra, Yuchong Gao +4
We present an approach to overcoming challenges in dynamical dexterity for robots through tunable origami structures. Our work leverages a one-parameter family of flat sheet crease…