4 papers
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…
Steering Elongate Multi-legged Robots By Modulating Body Undulation Waves
Esteban Flores, Baxi Chong, Daniel Soto +1
Centipedes exhibit great maneuverability in diverse environments due to their many legs and body-driven control. By leveraging similar morphologies and control strategies, their ro…
Probabilistic approach to feedback control enhances multi-legged locomotion on rugged landscapes
Juntao He, Baxi Chong, Jianfeng Lin +4
Achieving robust legged locomotion on complex terrains poses challenges due to the high uncertainty in robot-environment interactions. Recent advances in bipedal and quadrupedal ro…