8 papers · 1 filter
Three-dimensional hydro-cluttered locomotion by an undulatory robot
Tianyu Wang, Matthew Fernandez, Galen Tunnicliffe +10
Aquatic robots have expanded human access to underwater environments, yet many underwater spaces contain obstacles that can disrupt open-water locomotion. In "hydro-cluttered" envi…
A Robust Antenna Provides Tactile Feedback in a Multi-legged Robot
Zhaochen J. Xu, Juntao He, Delfin Aydan +5
Multi-legged elongate robots hold promise for maneuvering through complex environments. Prior work has demonstrated that reliable locomotion can be achieved using open-loop body un…
Agile asymmetric multi-legged locomotion: contact planning via geometric mechanics and spin model duality
Jackson Habala, Gabriel B. Margolis, Tianyu Wang +8
Legged robot research is presently focused on bipedal or quadrupedal robots, despite capabilities to build robots with many more legs to potentially improve locomotion performance.…
Optimal swimming with body compliance in an overdamped medium
Jianfeng Lin, Tianyu Wang, Baxi Chong +3
Elongate animals and robots use undulatory body waves to locomote through diverse environments. Geometric mechanics provides a framework to model and optimize such systems in highl…
Robust control for multi-legged elongate robots in noisy environments
Baxi Chong, Juntao He, Daniel Irvine +8
Modern two and four legged robots exhibit impressive mobility on complex terrain, largely attributed to advancement in learning algorithms. However, these systems often rely on hig…
Probabilistic approach to feedback control enhances multi-legged locomotion on rugged landscapes
Juntao He, Baxi Chong, Jianfeng Lin +4
Achieving robust legged locomotion on complex terrains poses challenges due to the high uncertainty in robot-environment interactions. Recent advances in bipedal and quadrupedal ro…