25 citations · 50 across the 8 of their papers we have counts for
10 papers
An Approach for Generating Families of Energetically Optimal Gaits from Passive Dynamic Walking Gaits
Nelson Rosa, Bassel Katamish, Maximilian Raff +1
For a class of biped robots with impulsive dynamics and a non-empty set of passive gaits (unactuated, periodic motions of the biped model), we present a method for computing contin…
Connecting Gaits in Energetically Conservative Legged Systems
Maximilian Raff, Nelson Rosa, C. David Remy
In this work, we present a nonlinear dynamics perspective on generating and connecting gaits for energetically conservative models of legged systems. In particular, we show that th…
Design and Control of a Recovery System for Legged Robots
Kevin Green, Nils Smit-Anseeuw, Rodney Gleason +1
This paper describes the design and control of a support and recovery system for use with planar legged robots. The system operates in three modes. First, it can be operated in a f…
Koopman-based Control of a Soft Continuum Manipulator Under Variable Loading Conditions
Daniel Bruder, Xun Fu, R. Brent Gillespie +2
Controlling soft continuum manipulator arms is difficult due to their infinite degrees of freedom, nonlinear material properties, and large deflections under loading. This paper pr…
Walking with Confidence: Safety Regulation for Full Order Biped Models
Nils Smit-Anseeuw, C. David Remy, Ram Vasudevan
Safety guarantees are valuable in the control of walking robots, as falling can be both dangerous and costly. Unfortunately, set-based tools for generating safety guarantees (such…
Modeling and Control of Soft Robots Using the Koopman Operator and Model Predictive Control
Daniel Bruder, Brent Gillespie, C. David Remy +1
Controlling soft robots with precision is a challenge due in large part to the difficulty of constructing models that are amenable to model-based control design techniques. Koopman…
Comparison and Experimental Validation of Predictive Models for Soft, Fiber-Reinforced Actuators
Audrey Sedal, Alan Wineman, R Brent Gillespie +1
Successful soft robot modeling approaches appearing in recent literature have been based on a variety of distinct theories, including traditional robotic theory, continuum mechanic…
Nonlinear System Identification of Soft Robot Dynamics Using Koopman Operator Theory
Daniel Bruder, C. David Remy, Ram Vasudevan
Soft robots are challenging to model due in large part to the nonlinear properties of soft materials. Fortunately, this softness makes it possible to safely observe their behavior…
Force Generation by Parallel Combinations of Fiber-Reinforced Fluid-Driven Actuators
Daniel Bruder, Audrey Sedal, Ram Vasudevan +1
The compliant structure of soft robotic systems enables a variety of novel capabilities in comparison to traditional rigid-bodied robots. A subclass of soft fluid-driven actuators…
Learning Stable and Energetically Economical Walking with RAMone
Audrow Nash, Yu-Ming Chen, Nils Smit-Anseeuw +2
In this paper, we optimize over the control parameter space of our planar-bipedal robot, RAMone, for stable and energetically economical walking at various speeds. We formulate thi…