18 papers
Guiding Energy-Efficient Locomotion through Impact Mitigation Rewards
Chenghao Wang, Arjun Viswanathan, Eric Sihite +1
Animals achieve energy-efficient locomotion by their implicit passive dynamics, a marvel that has captivated roboticists for decades.Recently, methods incorporated Adversarial Moti…
Dynamic Quadrupedal Legged and Aerial Locomotion via Structure Repurposing
Chenghao Wang, Kaushik Venkatesh Krishnamurthy, Shreyansh Pitroda +5
Multi-modal ground-aerial robots have been extensively studied, with a significant challenge lying in the integration of conflicting requirements across different modes of operatio…
Crater Observing Bio-inspired Rolling Articulator (COBRA)
Adarsh Salagame, Henry Noyes, Alireza Ramezani +2
NASA aims to establish a sustainable human basecamp on the Moon as a stepping stone for future missions to Mars and beyond. The discovery of water ice on the Moon's craters located…
Estimation of Aerodynamics Forces in Dynamic Morphing Wing Flight
Bibek Gupta, Mintae Kim, Albert Park +3
Accurate estimation of aerodynamic forces is essential for advancing the control, modeling, and design of flapping-wing aerial robots with dynamic morphing capabilities. In this pa…
Optimal Trajectory Planning in a Vertically Undulating Snake Locomotion using Contact-implicit Optimization
Adarsh Salagame, Eric Sihite, Alireza Ramezani
Contact-rich problems, such as snake robot locomotion, offer unexplored yet rich opportunities for optimization-based trajectory and acyclic contact planning. So far, a substantial…
Quadratic Programming-Based Posture Manipulation and Thrust-vectoring for Agile Dynamic Walking on Narrow Pathways
Chenghao Wang, Eric Sihite, Kaushik Venkatesh Krishnamurthy +4
There has been significant advancement in legged robot's agility where they can show impressive acrobatic maneuvers, such as parkour. These maneuvers rely heavily on posture manipu…