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cs.RO2025
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…
cs.RO2024
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…
cs.RO2024
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…