14 papers
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…
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…
Vision-Guided Loco-Manipulation with a Snake Robot
Adarsh Salagame, Sasank Potluri, Keshav Bharadwaj Vaidyanathan +4
This paper presents the development and integration of a vision-guided loco-manipulation pipeline for Northeastern University's snake robot, COBRA. The system leverages a YOLOv8-ba…
NMPC-based Unified Posture Manipulation and Thrust Vectoring for Fault Recovery
Adarsh Salagame, Shashwat Pandya, Ioannis Mandralis +3
Multi-rotors face significant risks, as actuator failures at high altitudes can easily result in a crash and the robot's destruction. Therefore, rapid fault recovery in the event o…