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cs.RO2026
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…
cs.RO2021
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,…