5 papers
Pose Estimation of a Thruster-Driven Bioinspired Multi-Link Robot
Nicholas B. Andrews, Yanhao Yang, Sofya Akhetova +2
This work demonstrates simultaneous pose (position and orientation) and shape estimation for a free-floating, bioinspired multi-link robot with unactuated joints, link-mounted thru…
Coordinate-Independent Robot Model Identification
Yanhao Yang, Ross L. Hatton
Robot model identification is commonly performed by least-squares regression on inverse dynamics, but existing formulations measure residuals directly in coordinate force space and…
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…
Geometric Gait Optimization for Kinodynamic Systems Using a Lie Group Integrator
Yanhao Yang, Ross L. Hatton
This paper presents a gait optimization and motion planning framework for a class of locomoting systems with mixed kinematic and dynamic properties. Using Lagrangian reduction and…
Geometric Design and Gait Co-Optimization for Soft Continuum Robots Swimming at Low and High Reynolds Numbers
Yanhao Yang, Ross L. Hatton
Recent advancements in soft actuators have enabled soft continuum swimming robots to achieve higher efficiency and more closely mimic the behaviors of real marine animals. However,…