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cs.RO2025
One-DoF Robotic Design of Overconstrained Limbs with Energy-Efficient, Self-Collision-Free Motion
Yuping Gu, Bangchao Huang, Haoran Sun +6
While it is expected to build robotic limbs with multiple degrees of freedom (DoF) inspired by nature, a single DoF design remains fundamental, providing benefits that include, but…
cs.RO2024
Overconstrained Locomotion
Haoran Sun, Bangchao Huang, Zishang Zhang +11
This paper studies the design, control, and learning of a novel robotic limb that produces overconstrained locomotion by employing the Bennett linkage for motion generation, capabl…
cs.RO2024
Evolutionary Morphology Towards Overconstrained Locomotion via Large-Scale, Multi-Terrain Deep Reinforcement Learning
Yenan Chen, Chuye Zhang, Pengxi Gu +10
While the animals' Fin-to-Limb evolution has been well-researched in biology, such morphological transformation remains under-adopted in the modern design of advanced robotic limbs…