54 citations · 132 across the 4 of their papers we have counts for
4 papers
A pressure field model for fast, robust approximation of net contact force and moment between nominally rigid objects
Ryan Elandt, Evan Drumwright, Michael Sherman +1
We introduce an approximate model for predicting the net contact wrench between nominally rigid objects for use in simulation, control, and state estimation. The model combines and…
Rocking and rolling: a can that appears to rock might actually roll
Manoj Srinivasan, Andy Ruina
A beer bottle or soda can on a table, when slightly tipped and released, falls to an upright position and then rocks up to a somewhat opposite tilt. Superficially this rocking moti…
Prediction of stable walking for a toy that cannot stand
Michael J. Coleman, Mariano Garcia, Katja Mombaur +1
Previous experiments [M. J. Coleman and A. Ruina, Phys. Rev. Lett. 80, 3658 (1998)] showed that a gravity-powered toy with no control and which has no statically stable near-standi…
An Uncontrolled Toy That Can Walk But Cannot Stand Still
Michael J. Coleman, Andy Ruina
We built a simple two-leg toy that can walk stably with no control system. It walks downhill powered only by gravity. It seems to be the first McGeer-like passive-dynamic walker th…