14 citations · 18 across the 6 of their papers we have counts for
6 papers
Dynamic Coupling and Indirect Control of Jointed Robots Rolling Atop A Moving Platform
Hamidreza Moradi, Scott David Kelly
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the…
Continual Learning with Query-Only Attention
Gautham Bekal, Ashish Pujari, Scott David Kelly
Continual learning involves learning from a stream of data without repetition of data points, a scenario that is inherently complex due to distributional shift across tasks. We pro…
The Geometric Structure of Externally Actuated Planar Locomoting Systems in Ambient Media
Blake Buchanan, Tony Dear, Scott Kelly +2
Robots often interact with the world via attached parts such as wheels, joints, or appendages. In many systems, these interactions, and the manner in which they lead to locomotion,…
Stability and Control of Chaplygin Beanies Coupled to a Platform through Nonholonomic Constraints
Blake Buchanan, Matthew Travers, Howie Choset +1
Many multi-agent systems in nature are comprised of agents that interact with, and respond to, the dynamics of their environment. In this paper, we approach the study of such agent…
A Class of Minimal Generically Universally Rigid Frameworks
Scott D. Kelly, Andrea Micheletti
Following a review of related results in rigidity theory, we provide a construction to obtain generically universally rigid frameworks with the minimum number of edges, for any giv…
Transport of inertial particles by viscous streaming in arrays of oscillating probes
Kwitae Chong, Scott D. Kelly, Stuart T. Smith +1
A novel mechanism for the transport of microscale particles in viscous fluids is demonstrated. The mechanism exploits the trapping of such particles by rotational streaming cells e…