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cs.RO2025
Pose Estimation of a Thruster-Driven Bioinspired Multi-Link Robot
Nicholas B. Andrews, Yanhao Yang, Sofya Akhetova +2
This work demonstrates simultaneous pose (position and orientation) and shape estimation for a free-floating, bioinspired multi-link robot with unactuated joints, link-mounted thru…
cs.RO2025
Geometric Gait Optimization for Kinodynamic Systems Using a Lie Group Integrator
Yanhao Yang, Ross L. Hatton
This paper presents a gait optimization and motion planning framework for a class of locomoting systems with mixed kinematic and dynamic properties. Using Lagrangian reduction and…
cs.RO2025
Geometric Data-Driven Multi-Jet Locomotion Inspired by Salps
Yanhao Yang, Nina L. Hecht, Yousef Salaman-Maclara +4
Salps are marine animals consisting of chains of jellyfish-like units. Their efficient underwater locomotion by coordinating multi-jet propulsion has aroused great interest in robo…