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cs.RO2023
Geometric Gait Optimization for Inertia-Dominated Systems With Nonzero Net Momentum
Yanhao Yang, Ross L. Hatton
Inertia-dominated mechanical systems can achieve net displacement by 1) periodically changing their shape (known as kinematic gait) and 2) adjusting their inertia distribution to u…
cs.RO2023
Towards Geometric Motion Planning for High-Dimensional Systems: Gait-Based Coordinate Optimization and Local Metrics
Yanhao Yang, Capprin Bass, Ross L. Hatton
Geometric motion planning offers effective and interpretable gait analysis and optimization tools for locomoting systems. However, due to the curse of dimensionality in coordinate…