31 citations · 68 across the 7 of their papers we have counts for
7 papers
The Omega Turn: A General Turning Template for Elongate Robots
Baxi Chong, Tianyu Wang, Kelimar Diaz +12
Elongate limbless robots have the potential to locomote through tightly packed spaces for applications such as search-and-rescue and industrial inspections. The capability to effec…
Learning Modular Robot Locomotion from Demonstrations
Julian Whitman, Howie Choset
Modular robots can be reconfigured to create a variety of designs from a small set of components. But constructing a robot's hardware on its own is not enough -- each robot needs a…
Learning Modular Robot Visual-motor Locomotion Policies
Julian Whitman, Howie Choset
Control policy learning for modular robot locomotion has previously been limited to proprioceptive feedback and flat terrain. This paper develops policies for modular systems with…
A general locomotion control framework for multi-legged locomotors
Baxi Chong, Yasemin O. Aydin, Jennifer M. Rieser +13
Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, a…
Learning Modular Robot Control Policies
Julian Whitman, Matthew Travers, Howie Choset
Modular robots can be rearranged into a new design, perhaps each day, to handle a wide variety of tasks by forming a customized robot for each new task. However, reconfiguring just…
Reconstruction of Backbone Curves for Snake Robots
Tianyu Wang, Bo Lin, Baxi Chong +5
Snake robots composed of alternating single-axis pitch and yaw joints have many internal degrees of freedom, which make them capable of versatile three-dimensional locomotion. In m…
Directional Compliance in Obstacle-Aided Navigation for Snake Robots
Tianyu Wang, Julian Whitman, Matthew Travers +1
Snake robots have the potential to maneuver through tightly packed and complex environments. One challenge in enabling them to do so is the complexity in determining how to coordin…