4 citations · 5 across the 2 of their papers we have counts for
4 papers
Optimizing Gait Libraries via a Coverage Metric
Brian Bittner, Shai Revzen
Many robots move through the world by composing locomotion primitives like steps and turns. To do so well, robots need not have primitives that make intuitive sense to humans. This…
Data-Driven Geometric System Identification for Shape-Underactuated Dissipative Systems
Brian Bittner, Ross L. Hatton, Shai Revzen
Systems whose movement is highly dissipative provide an opportunity to both identify models easily and quickly optimize motions. Geometric mechanics provides means for reduction of…
Gait modeling and optimization for the perturbed Stokes regime
Matthew D. Kvalheim, Brian Bittner, Shai Revzen
Many forms of locomotion, both natural and artificial, are dominated by viscous friction in the sense that without power expenditure they quickly come to a standstill. From geometr…
A Data-Driven Approach to Connection Modeling
Brian A. Bittner, Ross L. Hatton, Shai Revzen
The study of motion in animals and robots has been aided by insights from geometric mechanics. In friction dominated systems, a mechanical "connection" can provide a high fidelity…