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Quadrupedal Locomotion Control On Inclined Surfaces Using Collocation Method
Adarsh Salagame, Maria Gianello, Chenghao Wang +6
Inspired by Chukars wing-assisted incline running (WAIR), in this work, we employ a high-fidelity model of our Husky Carbon quadrupedal-legged robot to walk over steep slopes of up…
Snake Robot with Tactile Perception Navigates on Large-scale Challenging Terrain
Shuo Jiang, Adarsh Salagame, Alireza Ramezani +1
Along with the advancement of robot skin technology, there has been notable progress in the development of snake robots featuring body-surface tactile perception. In this study, we…
Hierarchical RL-Guided Large-scale Navigation of a Snake Robot
Shuo Jiang, Adarsh Salagame, Alireza Ramezani +1
Classical snake robot control leverages mimicking snake-like gaits tuned for specific environments. However, to operate adaptively in unstructured environments, gait generation mus…