2 papers
cs.RO2023
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…
cs.RO2023
Geometric Mechanics of Contact-Switching Systems
Hari Krishna Hari Prasad, Ross L. Hatton, Kaushik Jayaram
Discrete and periodic contact switching is a key characteristic of steady-state legged locomotion. This paper introduces a framework for modeling and analyzing this contact-switchi…