1 citations · 5 across the 31 of their papers we have counts for
11 papers · 1 filter
Guiding Energy-Efficient Locomotion through Impact Mitigation Rewards
Chenghao Wang, Arjun Viswanathan, Eric Sihite +1
Animals achieve energy-efficient locomotion by their implicit passive dynamics, a marvel that has captivated roboticists for decades.Recently, methods incorporated Adversarial Moti…
Dynamic Quadrupedal Legged and Aerial Locomotion via Structure Repurposing
Chenghao Wang, Kaushik Venkatesh Krishnamurthy, Shreyansh Pitroda +5
Multi-modal ground-aerial robots have been extensively studied, with a significant challenge lying in the integration of conflicting requirements across different modes of operatio…
Crater Observing Bio-inspired Rolling Articulator (COBRA)
Adarsh Salagame, Henry Noyes, Alireza Ramezani +2
NASA aims to establish a sustainable human basecamp on the Moon as a stepping stone for future missions to Mars and beyond. The discovery of water ice on the Moon's craters located…
Thruster-Enhanced Locomotion: A Decoupled Model Predictive Control with Learned Contact Residuals
Chenghao Wang, Alireza Ramezani
Husky Carbon, a robot developed by Northeastern University, serves as a research platform to explore unification of posture manipulation and thrust vectoring. Unlike conventional q…
Estimation of Aerodynamics Forces in Dynamic Morphing Wing Flight
Bibek Gupta, Mintae Kim, Albert Park +3
Accurate estimation of aerodynamic forces is essential for advancing the control, modeling, and design of flapping-wing aerial robots with dynamic morphing capabilities. In this pa…
Optimal Trajectory Planning in a Vertically Undulating Snake Locomotion using Contact-implicit Optimization
Adarsh Salagame, Eric Sihite, Alireza Ramezani
Contact-rich problems, such as snake robot locomotion, offer unexplored yet rich opportunities for optimization-based trajectory and acyclic contact planning. So far, a substantial…
Quadratic Programming-Based Posture Manipulation and Thrust-vectoring for Agile Dynamic Walking on Narrow Pathways
Chenghao Wang, Eric Sihite, Kaushik Venkatesh Krishnamurthy +4
There has been significant advancement in legged robot's agility where they can show impressive acrobatic maneuvers, such as parkour. These maneuvers rely heavily on posture manipu…
Vision-Guided Loco-Manipulation with a Snake Robot
Adarsh Salagame, Sasank Potluri, Keshav Bharadwaj Vaidyanathan +4
This paper presents the development and integration of a vision-guided loco-manipulation pipeline for Northeastern University's snake robot, COBRA. The system leverages a YOLOv8-ba…
NMPC-based Unified Posture Manipulation and Thrust Vectoring for Fault Recovery
Adarsh Salagame, Shashwat Pandya, Ioannis Mandralis +3
Multi-rotors face significant risks, as actuator failures at high altitudes can easily result in a crash and the robot's destruction. Therefore, rapid fault recovery in the event o…
Reduced-Order Model-Based Gait Generation for Snake Robot Locomotion using NMPC
Adarsh Salagame, Eric Sihite, Milad Ramezani +1
This paper presents an optimization-based motion planning methodology for snake robots operating in constrained environments. By using a reduced-order model, the proposed approach…
ATMO: An Aerially Transforming Morphobot for Dynamic Ground-Aerial Transition
Ioannis Mandralis, Reza Nemovi, Alireza Ramezani +2
Designing ground-aerial robots is challenging due to the increased actuation requirements which can lead to added weight and reduced locomotion efficiency. Morphobots mitigate this…