1 citations · 3 across the 16 of their papers we have counts for
6 papers · 1 filter
Water Surface Swimming in a Centipede and its Robophysical Model
Zhaochen J. Xu, Delfin Aydin, Abdullah Mustafa +4
Elongate multi-legged robots use coordinated body waves and distributed legs to move through cluttered terrestrial environments. However, as housing actuators for independent leg c…
GM-Loco: Terrain-Adaptive Humanoid Locomotion on Granular Media
Junnosuke Kamohara, Feiyang Wu, Andy Ningan Zong +4
Humanoid locomotion on granular terrain remains a significant challenge due to its complex foot-terrain interaction dynamics that are difficult to model. Existing approaches either…
Robust bipedal locomotion on flowable slopes via foot-driven terrain manipulation
Deniz Kerimoglu, Junnosuke Kamohara, Jiyeon Maeng +4
Bipedal robots are challenging to control because they operate close to instability, where small variations in foot-terrain contact can rapidly destabilize locomotion. On rigid ter…
Three-dimensional hydro-cluttered locomotion by an undulatory robot
Tianyu Wang, Matthew Fernandez, Galen Tunnicliffe +10
Aquatic robots have expanded human access to underwater environments, yet many underwater spaces contain obstacles that can disrupt open-water locomotion. In "hydro-cluttered" envi…
A Robust Antenna Provides Tactile Feedback in a Multi-legged Robot
Zhaochen J. Xu, Juntao He, Delfin Aydan +5
Multi-legged elongate robots hold promise for maneuvering through complex environments. Prior work has demonstrated that reliable locomotion can be achieved using open-loop body un…
Agile asymmetric multi-legged locomotion: contact planning via geometric mechanics and spin model duality
Jackson Habala, Gabriel B. Margolis, Tianyu Wang +8
Legged robot research is presently focused on bipedal or quadrupedal robots, despite capabilities to build robots with many more legs to potentially improve locomotion performance.…