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