68 citations · 244 across the 20 of their papers we have counts for
6 papers · 1 filter
Anisotropic body compliance facilitates robotic sidewinding in complex environments
Velin Kojouharov, Tianyu Wang, Matthew Fernandez +2
Sidewinding, a locomotion strategy characterized by the coordination of lateral and vertical body undulations, is frequently observed in rattlesnakes and has been successfully reco…
Robust self-propulsion in sand using simply controlled vibrating cubes
Bangyuan Liu, Tianyu Wang, Velin Kojouharov +2
Much of the Earth and many surfaces of extraterrestrial bodies are composed of in-cohesive particle matter. Locomoting on granular terrain is challenging for common robotic devices…
Multi-legged matter transport: a framework for locomotion on noisy landscapes
Baxi Chong, Juntao He, Daniel Soto +4
While the transport of matter by wheeled vehicles or legged robots can be guaranteed in engineered landscapes like roads or rails, locomotion prediction in complex environments lik…
Mechanical Intelligence Simplifies Control in Terrestrial Limbless Locomotion
Tianyu Wang, Christopher Pierce, Velin Kojouharov +4
Limbless locomotors, from microscopic worms to macroscopic snakes, traverse complex, heterogeneous natural environments typically using undulatory body wave propagation. Theoretica…
Gait design for limbless obstacle aided locomotion using geometric mechanics
Baxi Chong, Tianyu Wang, Daniel Irvine +5
Limbless robots have the potential to maneuver through cluttered environments that conventional robots cannot traverse. As illustrated in their biological counterparts such as snak…
Geometry of contact: contact planning for multi-legged robots via spin models duality
Baxi Chong, Di Luo, Tianyu Wang +5
Contact planning is crucial in locomoting systems.Specifically, appropriate contact planning can enable versatile behaviors (e.g., sidewinding in limbless locomotors) and facilitat…