8 citations · 14 across the 7 of their papers we have counts for
6 papers · 1 filter
Floating-base manipulation on zero-perturbation manifolds
Brian A. Bittner, Jason Reid, Kevin C. Wolfe
To achieve high-dexterity motion planning on floating-base systems, the base dynamics induced by arm motions must be treated carefully. In general, it is a significant challenge to…
A Data-Driven Approach to Geometric Modeling of Systems with Low-Bandwidth Actuator Dynamics
Siming Deng, Junning Liu, Bibekananda Datta +5
It is challenging to perform system identification on soft robots due to their underactuated, high-dimensional dynamics. In this work, we present a data-driven modeling framework,…
Bridging Walking and Slithering -- Stokesian Locomotion
Shai Revzen, Dan Zhao, Glenna Clifton +2
Both legged locomotion and slithering motions typically utilize periodic gaits -- repeating cycles of body shape change that produce a net motion through the world. Legged locomoti…
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…