1 citations · 1 across the 8 of their papers we have counts for
9 papers
Coordinate-Independent Robot Model Identification
Yanhao Yang, Ross L. Hatton
Robot model identification is commonly performed by least-squares regression on inverse dynamics, but existing formulations measure residuals directly in coordinate force space and…
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…
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…
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…
The Geometry of Optimal Gait Families for Steering Kinematic Locomoting Systems
Jinwoo Choi, Siming Deng, Nathan Justus +2
Motion planning for locomotion systems typically requires translating high-level rigid-body tasks into low-level joint trajectories-a process that is straightforward for car-like r…
Geometric Design and Gait Co-Optimization for Soft Continuum Robots Swimming at Low and High Reynolds Numbers
Yanhao Yang, Ross L. Hatton
Recent advancements in soft actuators have enabled soft continuum swimming robots to achieve higher efficiency and more closely mimic the behaviors of real marine animals. However,…
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…
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…
Geometrically Modulable Gait Design for Quadrupeds
Hari Krishna Hari Prasad, Ross L. Hatton, Kaushik Jayaram
Miniature-legged robots are constrained by their onboard computation and control, thus motivating the need for simple, first-principles-based geometric models that connect \emph{pe…