5 papers · 1 filter
AthenaZero: A low-inertia, bimanual robot for dynamic manipulation
Andrew S. Morgan, Gregory Xie, Capprin Bass +23
AthenaZero is a bimanual manipulator designed to minimize inertia without compromising control authority. By utilizing quasi-direct drive actuation and transmission remotization te…
Towards Geometric Motion Planning for High-Dimensional Systems: Gait-Based Coordinate Optimization and Local Metrics
Yanhao Yang, Capprin Bass, Ross L. Hatton
Geometric motion planning offers effective and interpretable gait analysis and optimization tools for locomoting systems. However, due to the curse of dimensionality in coordinate…
Linear Kinematics for General Constant Curvature and Torsion Manipulators
Bill Fan, Farhan Rozaidi, Capprin Bass +3
We present a novel general model that unifies the kinematics of constant curvature and constant twist continuum manipulators. Combining this kinematics with energy-based physics, w…
Optimal Gait Families using Lagrange Multiplier Method
Jinwoo Choi, Capprin Bass, Ross L. Hatton
The robotic locomotion community is interested in optimal gaits for control. Based on the optimization criterion, however, there could be a number of possible optimal gaits. For ex…
Characterizing Error in Noncommutative Geometric Gait Analysis
Capprin Bass, Suresh Ramasamy, Ross Hatton
A key problem in robotic locomotion is in finding optimal shape changes to effectively displace systems through the world. Variational techniques for gait optimization require esti…