3 papers
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…
cs.RO2023
HISSbot: Sidewinding with a Soft Snake Robot
Farhan Rozaidi, Emma Waters, Olivia Dawes +3
Snake robots are characterized by their ability to navigate through small spaces and loose terrain by utilizing efficient cyclic forms of locomotion. Soft snake robots are a subset…
cs.RO2023
Linear Kinematics for General Constant Curvature and Torsion Manipulators
Bill Fan, Farhan Rozaidi, Capprin Bass +3
We present a novel general model that unifies the kinematics of constant curvature and constant twist continuum manipulators. Combining this kinematics with energy-based physics, w…