29 citations · 65 across the 22 of their papers we have counts for
13 papers · 1 filter
Linear Motility Maps in Nonlinear Viscous Fluids
Yishun Zhou, Shai Revzen
Systems moving in low Reynolds number fluid regimes are known to be governed by a ``motility map'' which linearly relates their shape change rates to they body frame velocity movin…
Walking on Rough Terrain with Any Number of Legs
Zhuoyang Chen, Xinyuan Wang, Shai Revzen
Robotics would gain by replicating the remarkable agility of arthropods in navigating complex environments. Here we consider the control of multi-legged systems which have 6 or mor…
Sample Efficient Learning of Body-Environment Interaction of an Under-Actuated System
Zvi Chapnik, Yizhar Or, Shai Revzen
Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-fric…
Asymmetric Friction in Geometric Locomotion
Ross L. Hatton, Yousef Salaman, Shai Revzen
Geometric mechanics models of locomotion have provided insight into how robots and animals use environmental interactions to convert internal shape changes into displacement throug…
Learning the Geometric Mechanics of Robot Motion Using Gaussian Mixtures
Ruizhen Hu, Shai Revzen
Data-driven models of robot motion constructed using principles from Geometric Mechanics have been shown to produce useful predictions of robot motion for a variety of robots. For…
Rapid Integrator for a Class of Multi-Contact Systems
Marion Anderson, Shai Revzen
Many problems in robotics involve creating or breaking multiple contacts nearly simultaneously or in an indeterminate order. We present a novel general purpose numerical integrator…
Modeling multi-legged robot locomotion with slipping and its experimental validation
Ziyou Wu, Dan Zhao, Shai Revzen
Multi-legged robots with six or more legs are not in common use, despite designs with superior stability, maneuverability, and a low number of actuators being available for over 20…
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…
Dandelion-Picking Legged Robot
Sandilya Sai Garimella, Shai Revzen
Agriculture is currently undergoing a robotics revolution, but robots using wheeled or treads suffer from known disadvantages: they are unable to move over rubble and steep or loos…
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…
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…
Recovery of Behaviors Encoded via Bilateral Constraints
George Council, Shai Revzen
If robots are ever to achieve autonomous motion comparable to that exhibited by animals, they must acquire the ability to quickly recover motor behaviors when damage, malfunction,…
Gait modeling and optimization for the perturbed Stokes regime
Matthew D. Kvalheim, Brian Bittner, Shai Revzen
Many forms of locomotion, both natural and artificial, are dominated by viscous friction in the sense that without power expenditure they quickly come to a standstill. From geometr…