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cs.RO2025
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…
cs.RO2025
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…
cs.RO2021
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.…