4 papers
Cockroaches adjust body and appendages to traverse cluttered large obstacles
Yaqing Wang, Ratan Othayoth, Chen Li
To traverse complex natural terrain, animals often transition between locomotor modes. It is well known that locomotor transitions can be induced by switching in neural control cir…
Omni-Roach: A legged robot capable of traversing multiple types of large obstacles and self-righting
Jonathan Mi, Yaqing Wang, Chen Li
Robots excel at avoiding obstacles but struggle to traverse complex 3-D terrain with cluttered large obstacles. By contrast, insects like cockroaches excel at doing so. Recent rese…
Locomotor transitions in the potential energy landscape-dominated regime
Ratan Othayoth, Qihan Xuan, Yaqing Wang +1
To traverse complex three-dimensional terrainwith large obstacles, animals and robots must transition across different modes. However, the most mechanistic understanding of terrest…
Sensing environmental physical interaction to traverse cluttered obstacles
Yaqing Wang, Ling Xu, Chen Li
The long-standing, dominant approach to robotic obstacle negotiation relies on mapping environmental geometry to avoid obstacles. However, this approach does not allow for traversa…