2 papers
cs.RO2026
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.RO2025
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…