294 citations · 687 across the 19 of their papers we have counts for
20 papers
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…
HISSbot: Sidewinding with a Soft Snake Robot
Farhan Rozaidi, Emma Waters, Olivia Dawes +3
Snake robots are characterized by their ability to navigate through small spaces and loose terrain by utilizing efficient cyclic forms of locomotion. Soft snake robots are a subset…
Linear Kinematics for General Constant Curvature and Torsion Manipulators
Bill Fan, Farhan Rozaidi, Capprin Bass +3
We present a novel general model that unifies the kinematics of constant curvature and constant twist continuum manipulators. Combining this kinematics with energy-based physics, w…
Optimal Gait Families using Lagrange Multiplier Method
Jinwoo Choi, Capprin Bass, Ross L. Hatton
The robotic locomotion community is interested in optimal gaits for control. Based on the optimization criterion, however, there could be a number of possible optimal gaits. For ex…
Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning
Ryan Batke, Fangzhou Yu, Jeremy Dao +4
In this work, we propose a method to generate reduced-order model reference trajectories for general classes of highly dynamic maneuvers for bipedal robots for use in sim-to-real r…
Motion Planning for Agile Legged Locomotion using Failure Margin Constraints
Kevin Green, John Warila, Ross L. Hatton +1
The complex dynamics of agile robotic legged locomotion requires motion planning to intelligently adjust footstep locations. Often, bipedal footstep and motion planning use mathema…
Scales and Locomotion: Non-Reversible Longitudinal Drag
Quinten Konyn, Ross L. Hatton
Locomotion requires that an animal or robot be able to move itself forward farther than it moves backward in each gait cycle (formally, that it be able to break the symmetry of its…
Characterizing Error in Noncommutative Geometric Gait Analysis
Capprin Bass, Suresh Ramasamy, Ross Hatton
A key problem in robotic locomotion is in finding optimal shape changes to effectively displace systems through the world. Variational techniques for gait optimization require esti…
Geometric analysis of gaits and optimal control for three-link kinematic swimmers
Oren Wiezel, Suresh Ramasamy, Nathan Justus +2
Many robotic systems locomote using gaits - periodic changes of internal shape, whose mechanical interaction with the robot's environment generate characteristic net displacements.…
The Geometry of Optimal Gaits for Inertia-dominated Kinematic Systems
Ross L. Hatton, Zachary Brock, Shuoqi Chen +5
Isolated mechanical systems -- e.g., those floating in space, in free-fall, or on a frictionless surface -- are able to achieve net rotation by cyclically changing their shape, eve…
Data-Driven Geometric System Identification for Shape-Underactuated Dissipative Systems
Brian Bittner, Ross L. Hatton, Shai Revzen
Systems whose movement is highly dissipative provide an opportunity to both identify models easily and quickly optimize motions. Geometric mechanics provides means for reduction of…
Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model
Kevin Green, Yesh Godse, Jeremy Dao +3
In this paper, we describe an approach to achieve dynamic legged locomotion on physical robots which combines existing methods for control with reinforcement learning. Specifically…
Optimal Gaits for Drag-dominated Swimmers with Passive Elastic Joints
Suresh Ramasamy, Ross L. Hatton
In this paper, we identify optimal swimming strategies for drag-dominated swimmers with a passive elastic joint. We use resistive force theory (RFT) to obtain the dynamics of the s…
Planning for the Unexpected: Explicitly Optimizing Motions for Ground Uncertainty in Running
Kevin Green, Ross L. Hatton, Jonathan Hurst
We propose a method to generate actuation plans for a reduced order, dynamic model of bipedal running. This method explicitly enforces robustness to ground uncertainty. The plan ge…
Geometric phase predicts locomotion performance in undulating living systems across scales
Jennifer M Rieser, Baxi Chong, Chaohui Gong +8
Self-propelling organisms locomote via generation of patterns of self-deformation. Despite the diversity of body plans, internal actuation schemes and environments in limbless vert…
A Data-Driven Approach to Connection Modeling
Brian A. Bittner, Ross L. Hatton, Shai Revzen
The study of motion in animals and robots has been aided by insights from geometric mechanics. In friction dominated systems, a mechanical "connection" can provide a high fidelity…
Soap-bubble Optimization of Gaits
Suresh Ramasamy, Ross L. Hatton
In this paper, we present a geometric variational algorithm for optimizing the gaits of kinematic locomoting systems. The dynamics of this algorithm are analogous to the physics of…
A review on locomotion robophysics: the study of movement at the intersection of robotics, soft matter and dynamical systems
Jeffrey Aguilar, Tingnan Zhang, Feifei Qian +11
In this review we argue for the creation of a physics of moving systems -- a locomotion "robophysics" -- which we define as the pursuit of the discovery of principles of self gener…
Sidewinding with minimal slip: Snake and robot ascent of sandy slopes
Hamidreza Marvi, Chaohui Gong, Nick Gravish +7
Limbless organisms such as snakes can navigate nearly all terrain. In particular, desert-dwelling sidewinder rattlesnakes (Crotalus cerastes) operate effectively on inclined granul…
Geometric visualization of self-propulsion in a complex medium
Ross L. Hatton, Yang Ding, Howie Choset +1
Combining geometric mechanics theory, laboratory robotic experiment and numerical simulation, we study the locomotion in granular media (GM) of the simplest non-inertial swimmer, t…