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