15 citations · 15 across the 3 of their papers we have counts for
4 papers
Geometric analysis of gaits and optimal control for three-link kinematic swimmers
Oren Wiezel, Suresh Ramasamy, Nathan Justus +2
Many robotic systems locomote using gaits - periodic changes of internal shape, whose mechanical interaction with the robot's environment generate characteristic net displacements.…
The Geometry of Optimal Gaits for Inertia-dominated Kinematic Systems
Ross L. Hatton, Zachary Brock, Shuoqi Chen +5
Isolated mechanical systems -- e.g., those floating in space, in free-fall, or on a frictionless surface -- are able to achieve net rotation by cyclically changing their shape, eve…
Optimal Gaits for Drag-dominated Swimmers with Passive Elastic Joints
Suresh Ramasamy, Ross L. Hatton
In this paper, we identify optimal swimming strategies for drag-dominated swimmers with a passive elastic joint. We use resistive force theory (RFT) to obtain the dynamics of the s…
Soap-bubble Optimization of Gaits
Suresh Ramasamy, Ross L. Hatton
In this paper, we present a geometric variational algorithm for optimizing the gaits of kinematic locomoting systems. The dynamics of this algorithm are analogous to the physics of…