14 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…
Thruster-Enhanced Locomotion: A Decoupled Model Predictive Control with Learned Contact Residuals
Chenghao Wang, Alireza Ramezani
Husky Carbon, a robot developed by Northeastern University, serves as a research platform to explore unification of posture manipulation and thrust vectoring. Unlike conventional q…
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…