1 citations · 1 across the 4 of their papers we have counts for
7 papers
Bicycle Acrobatics with Reinforcement Learning
Shamel Fahmi, Arianna Ilvonen, Samuel Zapolsky +8
Bicycle robots are fast and energy efficient, but their simple mechanical design and their underactuated and non-holonomic dynamics make highly agile maneuvers difficult to achieve…
Flip Stunts on Bicycle Robots using Iterative Motion Imitation
Jeonghwan Kim, Shamel Fahmi, Seungeun Rho +2
This work demonstrates a front-flip on bicycle robots via reinforcement learning, particularly by imitating reference motions that are infeasible and imperfect. To address this, we…
System Design of the Ultra Mobility Vehicle: A Driving, Balancing, and Jumping Bicycle Robot
Benjamin Bokser, Daniel Gonzalez, Aaron Preston +39
Trials cyclists and mountain bike riders can hop, jump, balance, and drive on one or both wheels. This versatility allows them to achieve speed and energy-efficiency on smooth terr…
On Terrain-Aware Locomotion for Legged Robots
Shamel Fahmi
(Simplified Abstract) To accomplish breakthroughs in dynamic whole-body locomotion, legged robots have to be terrain aware. Terrain-Aware Locomotion (TAL) implies that the robot ca…
On State Estimation for Legged Locomotion over Soft Terrain
Shamel Fahmi, Geoff Fink, Claudio Semini
Locomotion over soft terrain remains a challenging problem for legged robots. Most of the work done on state estimation for legged robots is designed for rigid contacts, and does n…
STANCE: Locomotion Adaptation over Soft Terrain
Shamel Fahmi, Michele Focchi, Andreea Radulescu +3
Whole-body Control (WBC) has emerged as an important framework in locomotion control for legged robots. However, most of WBC frameworks fail to generalize beyond rigid terrains. Le…