1 citations · 5 across the 31 of their papers we have counts for
17 papers · 1 filter
Self-supervised cost of transport estimation for multimodal path planning
Vincent Gherold, Ioannis Mandralis, Eric Sihite +3
Autonomous robots operating in real environments are often faced with decisions on how best to navigate their surroundings. In this work, we address a particular instance of this p…
Enhanced Capture Point Control Using Thruster Dynamics and QP-Based Optimization for Harpy
Shreyansh Pitroda, Eric Sihite, Taoran Liu +6
Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These tech…
Conjugate momentum based thruster force estimate in dynamic multimodal robot
Shreyansh Pitroda, Eric Sihite, Taoran Liu +6
In a multi-modal system which combines thruster and legged locomotion such our state-of-the-art Harpy platform to perform dynamic locomotion. Therefore, it is very important to hav…
Validation of Tumbling Robot Dynamics with Posture Manipulation for Closed-Loop Heading Angle Control
Adarsh Salagame, Eric Sihite, Alireza Ramezani
Navigating rugged terrain and steep slopes is a challenge for mobile robots. Conventional legged and wheeled systems struggle with these environments due to limited traction and st…
Quadratic Programming Optimization for Bio-Inspired Thruster-Assisted Bipedal Locomotion on Inclined Slopes
Shreyansh Pitroda, Eric Sihite, Kaushik Venkatesh Krishnamurthy +5
Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These tech…
Enabling steep slope walking on Husky using reduced order modeling and quadratic programming
Kaushik Venkatesh Krishnamurthy, Eric Sihite, Chenghao Wang +4
Wing-assisted inclined running (WAIR) observed in some young birds, is an attractive maneuver that can be extended to legged aerial systems. This study proposes a control method us…
Conjugate Momentum-Based Estimation of External Forces for Bio-Inspired Morphing Wing Flight
Bibek Gupta, Eric Sihite, Alireza Ramezani
Dynamic morphing wing flights present significant challenges in accurately estimating external forces due to complex interactions between aerodynamics, rapid wing movements, and ex…
Optimization free control and ground force estimation with momentum observer for a multimodal legged aerial robot
Kaushik Venkatesh Krishnamurthy, Chenghao Wang, Shreyansh Pitroda +3
Legged-aerial multimodal robots can make the most of both legged and aerial systems. In this paper, we propose a control framework that bypasses heavy onboard computers by using an…
Capture Point Control in Thruster-Assisted Bipedal Locomotion
Shreyansh Pitroda, Aditya Bondada, Kaushik Venkatesh Krishnamurthy +8
Despite major advancements in control design that are robust to unplanned disturbances, bipedal robots are still susceptible to falling over and struggle to negotiate rough terrain…
Thruster-Assisted Incline Walking
Kaushik Venkatesh Krishnamurthy, Chenghao Wang, Shreyansh Pitroda +5
In this study, our aim is to evaluate the effectiveness of thruster-assisted steep slope walking for the Husky Carbon, a quadrupedal robot equipped with custom-designed actuators a…
Modeling and Controls of Fluid-Structure Interactions (FSI) in Dynamic Morphing Flight
Bibek Gupta, Eric Sihite, Alireza Ramezani
The primary aim of this study is to enhance the accuracy of our aerodynamic Fluid-Structure Interaction (FSI) model to support the controlled tracking of 3D flight trajectories by…
Reinforcement Learning-Based Model Matching to Reduce the Sim-Real Gap in COBRA
Adarsh Salagame, Harin Kumar Nallaguntla, Bardia Ardakanian +3
This paper employs a reinforcement learning-based model identification method aimed at enhancing the accuracy of the dynamics for our snake robot, called COBRA. Leveraging gradient…
Narrow-Path, Dynamic Walking Using Integrated Posture Manipulation and Thrust Vectoring
Kaushik Venkatesh Krishnamurthy, Chenghao Wang, Shreyansh Pitroda +5
This research concentrates on enhancing the navigational capabilities of Northeastern Universitys Husky, a multi-modal quadrupedal robot, that can integrate posture manipulation an…
Banking Turn of High-DOF Dynamic Morphing Wing Flight by Shifting Structure Response Using Optimization
Bibek Gupta, Yogi Shah, Taoran Liu +2
The 3D flight control of a flapping wing robot is a very challenging problem. The robot stabilizes and controls its pose through the aerodynamic forces acting on the wing membrane…
Dynamic Posture Manipulation During Tumbling for Closed-Loop Heading Angle Control
Adarsh Salagame, Eric Sihite, Gunar Schirner +1
Passive tumbling uses natural forces like gravity for efficient travel. But without an active means of control, passive tumblers must rely entirely on external forces. Northeastern…
Non-impulsive Contact-Implicit Motion Planning for Morpho-functional Loco-manipulation
Adarsh Salagame, Kruthika Gangaraju, Harin Kumar Nallaguntla +3
Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows…
Loco-Manipulation with Nonimpulsive Contact-Implicit Planning in a Slithering Robot
Adarsh Salagame, Kruthika Gangaraju, Harin Kumar Nallaguntla +3
Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows…