5 citations · 5 across the 2 of their papers we have counts for
15 papers · 1 filter
Self-supervised cost of transport estimation for multimodal path planning
Vincent Gherold, Ioannis Mandralis, Eric Sihite +3
Autonomous robots operating in real environments are often faced with decisions on how best to navigate their surroundings. In this work, we address a particular instance of this p…
Enhanced Capture Point Control Using Thruster Dynamics and QP-Based Optimization for Harpy
Shreyansh Pitroda, Eric Sihite, Taoran Liu +6
Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These tech…
Conjugate momentum based thruster force estimate in dynamic multimodal robot
Shreyansh Pitroda, Eric Sihite, Taoran Liu +6
In a multi-modal system which combines thruster and legged locomotion such our state-of-the-art Harpy platform to perform dynamic locomotion. Therefore, it is very important to hav…
Validation of Tumbling Robot Dynamics with Posture Manipulation for Closed-Loop Heading Angle Control
Adarsh Salagame, Eric Sihite, Alireza Ramezani
Navigating rugged terrain and steep slopes is a challenge for mobile robots. Conventional legged and wheeled systems struggle with these environments due to limited traction and st…
Quadratic Programming Optimization for Bio-Inspired Thruster-Assisted Bipedal Locomotion on Inclined Slopes
Shreyansh Pitroda, Eric Sihite, Kaushik Venkatesh Krishnamurthy +5
Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These tech…
Enabling steep slope walking on Husky using reduced order modeling and quadratic programming
Kaushik Venkatesh Krishnamurthy, Eric Sihite, Chenghao Wang +4
Wing-assisted inclined running (WAIR) observed in some young birds, is an attractive maneuver that can be extended to legged aerial systems. This study proposes a control method us…