9 papers
Unifying Sidewinding and Rolling: A Wave-Based Framework for Self-Righting in Elongated Limbless and Multi-Legged Robots
Hangjun Liu, Jiarui Geng, Jinxuan Ding +7
Centipede-like robots offer unique locomotion advantages due to their small cross-sectional area for accessing confined spaces, and their redundant legs enhance robustness in clutt…
Terrain characterization and locomotion adaptation in a small-scale lizard-inspired robot
Duncan Andrews, Landon Zimmerman, Evan Martin +2
Unlike their large-scale counterparts, small-scale robots are largely confined to laboratory environments and are rarely deployed in real-world settings. As robot size decreases, r…
Agile asymmetric multi-legged locomotion: contact planning via geometric mechanics and spin model duality
Jackson Habala, Gabriel B. Margolis, Tianyu Wang +8
Legged robot research is presently focused on bipedal or quadrupedal robots, despite capabilities to build robots with many more legs to potentially improve locomotion performance.…
Optimal swimming with body compliance in an overdamped medium
Jianfeng Lin, Tianyu Wang, Baxi Chong +3
Elongate animals and robots use undulatory body waves to locomote through diverse environments. Geometric mechanics provides a framework to model and optimize such systems in highl…
The Omega Turn: A General Turning Template for Elongate Robots
Baxi Chong, Tianyu Wang, Kelimar Diaz +12
Elongate limbless robots have the potential to locomote through tightly packed spaces for applications such as search-and-rescue and industrial inspections. The capability to effec…
Robust control for multi-legged elongate robots in noisy environments
Baxi Chong, Juntao He, Daniel Irvine +8
Modern two and four legged robots exhibit impressive mobility on complex terrain, largely attributed to advancement in learning algorithms. However, these systems often rely on hig…