3 papers
cs.RO2025
Learning to Crawl: Latent Model-Based Reinforcement Learning for Soft Robotic Adaptive Locomotion
Vaughn Gzenda, Robin Chhabra
Soft robotic crawlers are mobile robots that utilize soft body deformability and compliance to achieve locomotion through surface contact. Designing control strategies for such sys…
math-ph2024
Affine Connection Approach to the Realization of Nonholonomic Constraints by Strong Friction Forces
Vaughn Gzenda, Robin Chhabra
In this paper, we study an affine connection approach to realizing nonholonomic mechanical systems mediated by viscous friction forces with large coefficients, viewed as a singular…
nlin.SI2018
Integrability and Chaos in Figure Skating
Vaughn Gzenda, Vakhtang Putkaradze
We derive and analyze a three dimensional model of a figure skater. We model the skater as a three-dimensional body moving in space subject to a non-holonomic constraint enforcing…