1 citations · 1 across the 5 of their papers we have counts for
5 papers
Dandelion-Picking Legged Robot
Sandilya Sai Garimella, Shai Revzen
Agriculture is currently undergoing a robotics revolution, but robots using wheeled or treads suffer from known disadvantages: they are unable to move over rubble and steep or loos…
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…
Computing the Bouligand derivative of a class of piecewise-differentiable flows
Shai Revzen, Samuel A Burden
Event--selected vector fields yield piecewise-differentiable flows, which possess a continuous and piecewise-linear Bouligand (or B-)derivative; here we provide an algorithm…
Reverse-engineering invariant manifolds with asymptotic phase
Matthew Kvalheim, Shai Revzen
We present a recipe for rendering a submanifold normally hyperbolic and invariant within a stability basin. The construction includes the ability to choose the asymptotic phase map…
Event-Selected Vector Field Discontinuities Yield Piecewise-Differentiable Flows
Samuel A. Burden, S. Shankar Sastry, Daniel E. Koditschek +1
We study a class of discontinuous vector fields brought to our attention by multi-legged animal locomotion. Such vector fields arise not only in biomechanics, but also in robotics,…