294 citations · 687 across the 19 of their papers we have counts for
4 papers · 1 filter
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…