6 papers
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…
Effective self-righting strategies for elongate multi-legged robots
Erik Teder, Baxi Chong, Juntao He +4
Centipede-like robots offer an effective and robust solution to navigation over complex terrain with minimal sensing. However, when climbing over obstacles, such multi-legged robot…
Addition of a peristaltic wave improves multi-legged locomotion performance on complex terrains
Massimiliano Iaschi, Baxi Chong, Tianyu Wang +5
Characterized by their elongate bodies and relatively simple legs, multi-legged robots have the potential to locomote through complex terrains for applications such as search-and-r…