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09/16/2023
Towards Geometric Motion Planning for High-Dimensional Systems: Gait-Based Coordinate Optimization and Local Metrics
Geometric motion planning offers effective and interpretable gait analys...
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09/13/2023
Geometric Gait Optimization for Inertia-Dominated Systems With Nonzero Net Momentum
Inertia-dominated mechanical systems can achieve net displacement by 1) ...
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06/17/2023
Geometric Mechanics of Contact-Switching Systems
Discrete and periodic contact switching is a key characteristic of stead...
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03/28/2023
HISSbot: Sidewinding with a Soft Snake Robot
Snake robots are characterized by their ability to navigate through smal...
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02/22/2023
Linear Kinematics for General Constant Curvature and Torsion Manipulators
We present a novel general model that unifies the kinematics of constant...
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10/07/2022
Optimal Gait Families using Lagrange Multiplier Method
The robotic locomotion community is interested in optimal gaits for cont...
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07/09/2022
Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning
In this work, we propose a method to generate reduced-order model refere...
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03/28/2022
Motion Planning for Agile Legged Locomotion using Failure Margin Constraints
The complex dynamics of agile robotic legged locomotion requires motion ...
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02/24/2022
Scales and Locomotion: Non-Reversible Longitudinal Drag
Locomotion requires that an animal or robot be able to move itself forwa...
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12/21/2020
Data-Driven Geometric System Identification for Shape-Underactuated Dissipative Systems
The study of systems whose movement is both geometric and dissipative of...
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10/21/2020
Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model
In this paper, we describe an approach to achieve dynamic legged locomot...
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01/28/2020