5 papers
A Long-Legged, Direct-Drive Monopedal Robot Achieves Exceptional Jump Height
Gihyeok Na, Justin K. Yim
We demonstrate a jumping robot that reaches high (7.6 m) and fast (190 ms stance time) jumps from a single long leg driven by a direct-drive transmission, without elastic energy st…
Double-Anonymous Review for Robotics
Justin K. Yim, Paul Nadan, James Zhu +4
Prior research has investigated the benefits and costs of double-anonymous review (DAR, also known as double-blind review) in comparison to single-anonymous review (SAR) and open r…
The Simplest Walking Robot: A bipedal robot with one actuator and two rigid bodies
James Kyle, Justin K. Yim, Kendall Hart +2
We present the design and experimental results of the first 1-DOF, hip-actuated bipedal robot. While passive dynamic walking is simple by nature, many existing bipeds inspired by t…
Proprioception and reaction for walking among entanglements
Justin K. Yim, Jiming Ren, David Ologan +2
Entanglements like vines and branches in natural settings or cords and pipes in human spaces prevent mobile robots from accessing many environments. Legged robots should be effecti…
Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots
Yanhao Yang, Joseph Norby, Justin K. Yim +1
Legged robots leverage ground contacts and the reaction forces they provide to achieve agile locomotion. However, uncertainty coupled with contact discontinuities can lead to failu…