4 citations · 6 across the 5 of their papers we have counts for
8 papers
Bridging Walking and Slithering -- Stokesian Locomotion
Shai Revzen, Dan Zhao, Glenna Clifton +2
Both legged locomotion and slithering motions typically utilize periodic gaits -- repeating cycles of body shape change that produce a net motion through the world. Legged locomoti…
Estimating Phase from Observed Trajectories Using the Temporal 1-Form
Simon Wilshin, Matthew D. Kvalheim, Clayton Scott +1
Oscillators are ubiquitous in nature, and usually associated with the existence of an asymptotic phase that governs the long-term dynamics of the oscillator. % We show that asympto…
Challenges in Dynamic Mode Decomposition
Ziyou Wu, Steven L. Brunton, Shai Revzen
Dynamic Mode Decomposition (DMD) is a powerful tool for extracting spatial and temporal patterns from multi-dimensional time series, and it has been used successfully in a wide ran…
Optimizing Gait Libraries via a Coverage Metric
Brian Bittner, Shai Revzen
Many robots move through the world by composing locomotion primitives like steps and turns. To do so well, robots need not have primitives that make intuitive sense to humans. This…
Representing and computing the B-derivative of an vector field's flow
George Council, Shai Revzen, Samuel A. Burden
This paper concerns the first-order approximation of the piecewise-differentiable flow generated by a class of nonsmooth vector fields. Specifically, we represent and compute the B…
Data-Driven Geometric System Identification for Shape-Underactuated Dissipative Systems
Brian Bittner, Ross L. Hatton, Shai Revzen
Systems whose movement is highly dissipative provide an opportunity to both identify models easily and quickly optimize motions. Geometric mechanics provides means for reduction of…