4 papers
Geometric Data-Driven Multi-Jet Locomotion Inspired by Salps
Yanhao Yang, Nina L. Hecht, Yousef Salaman-Maclara +4
Salps are marine animals consisting of chains of jellyfish-like units. Their efficient underwater locomotion by coordinating multi-jet propulsion has aroused great interest in robo…
The Geometry of Optimal Gait Families for Steering Kinematic Locomoting Systems
Jinwoo Choi, Siming Deng, Nathan Justus +2
Motion planning for locomotion systems typically requires translating high-level rigid-body tasks into low-level joint trajectories-a process that is straightforward for car-like r…
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…