30 citations · 57 across the 5 of their papers we have counts for
4 papers · 1 filter
Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot
Neel Doshi, Kaushik Jayaram, Benjamin Goldberg +3
Planning locomotion trajectories for legged microrobots is challenging because of their complex morphology, high frequency passive dynamics, and discontinuous contact interactions…
Effective Locomotion at Multiple Stride Frequencies Using Proprioceptive Feedback on a Legged Microrobot
Neel Doshi, Kaushik Jayaram, Samantha Castellanos +2
Limitations in actuation, sensing, and computation have forced small legged robots to rely on carefully tuned, mechanically mediated leg trajectories for effective locomotion. Rece…
Framing Human-Robot Task Communication as a POMDP
Mark P. Woodward, Robert J. Wood
As general purpose robots become more capable, pre-programming of all tasks at the factory will become less practical. We would like for non-technical human owners to be able to co…
Learning from Humans as an I-POMDP
Mark P. Woodward, Robert J. Wood
The interactive partially observable Markov decision process (I-POMDP) is a recently developed framework which extends the POMDP to the multi-agent setting by including agent model…