7 citations · 7 across the 4 of their papers we have counts for
5 papers · 1 filter
Bicycle Acrobatics with Reinforcement Learning
Shamel Fahmi, Arianna Ilvonen, Samuel Zapolsky +8
Bicycle robots are fast and energy efficient, but their simple mechanical design and their underactuated and non-holonomic dynamics make highly agile maneuvers difficult to achieve…
System Design of the Ultra Mobility Vehicle: A Driving, Balancing, and Jumping Bicycle Robot
Benjamin Bokser, Daniel Gonzalez, Aaron Preston +39
Trials cyclists and mountain bike riders can hop, jump, balance, and drive on one or both wheels. This versatility allows them to achieve speed and energy-efficiency on smooth terr…
Fundamental Limitations in Performance and Interpretability of Common Planar Rigid-Body Contact Models
Nima Fazeli, Samuel Zapolsky, Evan Drumwright +1
The ability to reason about and predict the outcome of contacts is paramount to the successful execution of many robot tasks. Analytical rigid-body contact models are used extensiv…
Learning Data-Efficient Rigid-Body Contact Models: Case Study of Planar Impact
Nima Fazeli, Samuel Zapolsky, Evan Drumwright +1
In this paper we demonstrate the limitations of common rigid-body contact models used in the robotics community by comparing them to a collection of data-driven and data-reinforced…
Particle Traces for Detecting Divergent Robot Behavior
Samuel Zapolsky, Evan Drumwright
The motion of robots and objects in our world is often highly dependent upon contact. When contact is expected but does not occur or when contact is not expected but does occur, ro…