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cs.RO2025
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…
cs.RO2023
Adaptive Gait Modeling and Optimization for Principally Kinematic Systems
Siming Deng, Noah J. Cowan, Brian A. Bittner
Robotic adaptation to unanticipated operating conditions is crucial to achieving persistence and robustness in complex real world settings. For a wide range of cutting-edge robotic…
cs.RO2023
A Data-Driven Approach to Geometric Modeling of Systems with Low-Bandwidth Actuator Dynamics
Siming Deng, Junning Liu, Bibekananda Datta +5
It is challenging to perform system identification on soft robots due to their underactuated, high-dimensional dynamics. In this work, we present a data-driven modeling framework,…