78 citations · 309 across the 22 of their papers we have counts for
9 papers · 1 filter
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…
Grounding Robot Navigation in Self-Defense Law
James Zhu, Anoushka Shrivastava, Aaron M. Johnson
Robots operating in close proximity to humans rely heavily on human trust to successfully complete their tasks. But what are the real outcomes when this trust is violated? Self-def…