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cs.RO2024
Robot Body Schema Learning from Full-body Extero/Proprioception Sensors
Shuo Jiang, Jinkun Zhang, Lawson Wong
For a robot, its body structure is an a-prior knowledge when it is designed. However, when such information is not available, can a robot recognize it by itself? In this paper, we…
cs.RO2023
Snake Robot with Tactile Perception Navigates on Large-scale Challenging Terrain
Shuo Jiang, Adarsh Salagame, Alireza Ramezani +1
Along with the advancement of robot skin technology, there has been notable progress in the development of snake robots featuring body-surface tactile perception. In this study, we…
cs.RO2023
Hierarchical RL-Guided Large-scale Navigation of a Snake Robot
Shuo Jiang, Adarsh Salagame, Alireza Ramezani +1
Classical snake robot control leverages mimicking snake-like gaits tuned for specific environments. However, to operate adaptively in unstructured environments, gait generation mus…