78 citations · 309 across the 22 of their papers we have counts for
25 papers
MOSAIC-SV: Real-Time Adaptive Identification of Vessel Dynamics for the Control and Deployment of Aquatic Robots
Wensen Liu, Jerry Peng, Shravani Vedagiri +1
Model-based control of an aquatic robotic platform depends on a hydrodynamic model that is costly to identify and specific to the hull, payload, and conditions it was measured in.…
The Simplest Walking Robot: A bipedal robot with one actuator and two rigid bodies
James Kyle, Justin K. Yim, Kendall Hart +2
We present the design and experimental results of the first 1-DOF, hip-actuated bipedal robot. While passive dynamic walking is simple by nature, many existing bipeds inspired by t…
Collision Detection for Multi-Robot Motion Planning with Efficient Quad-Tree Update and Skipping
Abdel Zaro, Ardalan Tajbakhsh, Aaron M. Johnson
This paper presents a novel and efficient collision checking approach called Updating and Collision Check Skipping Quad-tree (USQ) for multi-robot motion planning. USQ extends the…
Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems
Nathan J. Kong, J. Joe Payne, James Zhu +1
Hybrid dynamical systems, i.e. systems that have both continuous and discrete states, are ubiquitous in engineering, but are difficult to work with due to their discontinuous trans…
Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Optimization
Michael R. Turski, Joseph Norby, Aaron M. Johnson
Trajectory optimization problems for legged robots are commonly formulated with fixed contact schedules. These multi-phase Hybrid Trajectory Optimization (HTO) methods result in lo…
Proprioception and reaction for walking among entanglements
Justin K. Yim, Jiming Ren, David Ologan +2
Entanglements like vines and branches in natural settings or cords and pipes in human spaces prevent mobile robots from accessing many environments. Legged robots should be effecti…