6 papers
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…
Linear Motility Maps in Nonlinear Viscous Fluids
Yishun Zhou, Shai Revzen
Systems moving in low Reynolds number fluid regimes are known to be governed by a ``motility map'' which linearly relates their shape change rates to they body frame velocity movin…
Walking on Rough Terrain with Any Number of Legs
Zhuoyang Chen, Xinyuan Wang, Shai Revzen
Robotics would gain by replicating the remarkable agility of arthropods in navigating complex environments. Here we consider the control of multi-legged systems which have 6 or mor…
Sample Efficient Learning of Body-Environment Interaction of an Under-Actuated System
Zvi Chapnik, Yizhar Or, Shai Revzen
Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-fric…
Learning the Geometric Mechanics of Robot Motion Using Gaussian Mixtures
Ruizhen Hu, Shai Revzen
Data-driven models of robot motion constructed using principles from Geometric Mechanics have been shown to produce useful predictions of robot motion for a variety of robots. For…
Rapid Integrator for a Class of Multi-Contact Systems
Marion Anderson, Shai Revzen
Many problems in robotics involve creating or breaking multiple contacts nearly simultaneously or in an indeterminate order. We present a novel general purpose numerical integrator…