4 papers
Asymmetric Friction in Geometric Locomotion
Ross L. Hatton, Yousef Salaman, Shai Revzen
Geometric mechanics models of locomotion have provided insight into how robots and animals use environmental interactions to convert internal shape changes into displacement throug…
Riemannian Variational Calculus: Optimal Trajectories Under Inertia, Gravity, and Drag Effects
Jinwoo Choi, Alejandro Cabrera, Ross L. Hatton
Robotic motion optimization often focuses on task-specific solutions, overlooking fundamental motion principles. Building on Riemannian geometry and the calculus of variations (oft…
Optimal Control Approach for Gait Transition with Riemannian Splines
Jinwoo Choi, Ross L. Hatton
Robotic locomotion often relies on sequenced gaits to efficiently convert control input into desired motion. Despite extensive studies on gait optimization, achieving smooth and ef…
Optimal Control of Robotic Systems and Biased Riemannian Splines
Alejandro Cabrera, Ross L. Hatton
In this paper, we study mechanical optimal control problems on a given Riemannian manifold in which the cost is defined by a general cometric . This investigatio…