Ross L. Hatton

Kaushik Jayaram

IEEE Robotics Autom. Lett., August, 2024

Geometric Optimal Control of Mechanical Systems with Gravitational and Resistive Force.

[BibT_eX]

[DOI]

Jinwoo Choi

Alejandro Cabrera

CoRR, 2024

Geometric Design and Gait Co-Optimization for Soft Continuum Robots Swimming at Low and High Reynolds Numbers.

[BibT_eX]

[DOI]

CoRR, 2024

Optimal Control Approach for Gait Transition with Riemannian Splines.

[BibT_eX]

[DOI]

Jinwoo Choi

CoRR, 2024

Towards Geometric Motion Planning for High-Dimensional Systems: Gait-Based Coordinate Optimization and Local Metrics.

[BibT_eX]

[DOI]

Capprin Bass

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

2023

Geometric Mechanics of Contact-Switching Systems.

[BibT_eX]

[DOI]

Hari Krishna Hari Prasad

Kaushik Jayaram

IEEE Robotics Autom. Lett., December, 2023

Geometric analysis of gaits and optimal control for three-link kinematic swimmers.

[BibT_eX]

[DOI]

Autom., December, 2023

Towards Geometric Motion Planning for High-Dimensional Systems: Gait-Based Coordinate Optimization and Local Metrics.

[BibT_eX]

[DOI]

CoRR, 2023

Modular Sensor Integration into Soft Robots using Stretchable Wires for Nuclear Infrastructure Inspection and Radiation Spectroscopy.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Soft Robotics, 2023

HISSbot: Sidewinding with a Soft Snake Robot.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Soft Robotics, 2023

Linear Kinematics for General Constant Curvature and Torsion Manipulators.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Soft Robotics, 2023

Geometric Gait Optimization for Inertia-Dominated Systems with Nonzero Net Momentum.

[BibT_eX]

[DOI]

IROS, 2023

2022

The Geometry of Optimal Gaits for Inertia-Dominated Kinematic Systems.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2022

Curvilinear Kirigami Skins Let Soft Bending Actuators Slither Faster.

[BibT_eX]

[DOI]

Frontiers Robotics AI, 2022

Scales and Locomotion: Non-Reversible Longitudinal Drag.

[BibT_eX]

[DOI]

Quinten Konyn

CoRR, 2022

Amoeba-inspired swimming through isoperimetric modulation of body shape.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Motion Planning for Agile Legged Locomotion using Failure Margin Constraints.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Optimal Gait Families using Lagrange Multiplier Method.

[BibT_eX]

[DOI]

Jinwoo Choi

Capprin Bass

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Enhancing Maneuverability via Gait Design.

[BibT_eX]

[DOI]

Siming Deng

Noah J. Cowan

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Characterizing Error in Noncommutative Geometric Gait Analysis.

[BibT_eX]

[DOI]

Capprin Bass

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning.

[BibT_eX]

[DOI]

Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022

2021

Learning Spring Mass Locomotion: Guiding Policies With a Reduced-Order Model.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2021

Geometric Motion Planning for a System on the Cylindrical Surface.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

2020

Snake-Inspired Kirigami Skin for Lateral Undulation of a Soft Snake Robot.

[BibT_eX]

[DOI]

Callie Branyan

Yigit Mengüç

IEEE Robotics Autom. Lett., 2020

Data-Driven Geometric System Identification for Shape-Underactuated Dissipative Systems.

[BibT_eX]

[DOI]

Brian Bittner

Shai Revzen

CoRR, 2020

Evaluation of a Circumferential Extending Antagonist Actuator in a Soft Arm.

[BibT_eX]

[DOI]

Proceedings of the 3rd IEEE International Conference on Soft Robotics, 2020

Planning for the Unexpected: Explicitly Optimizing Motions for Ground Uncertainty in Running.

[BibT_eX]

[DOI]

Kevin Green

Jonathan W. Hurst

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

2019

The Geometry of Optimal Gaits for Drag-Dominated Kinematic Systems.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2019

A Comparison of Lateral Dynamic Models for Tractor-Trailer Systems.

[BibT_eX]

[DOI]

Zachary Brock

James Nelson

Proceedings of the 2019 IEEE Intelligent Vehicles Symposium, 2019

Aesthetics of Curvature Bases for Sketches.

[BibT_eX]

[DOI]

Keith Lippincott

Cindy Grimm

Proceedings of the 8th ACM/Eurographics Expressive Symposium, 2019

2018

Robot Leg Design: A Constructive Framework.

[BibT_eX]

[DOI]

IEEE Access, 2018

2017

Kinematic Cartography and the Efficiency of Viscous Swimming.

[BibT_eX]

[DOI]

Tony Dear

IEEE Trans. Robotics, 2017

Soft snake robots: Mechanical design and geometric gait implementation.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics, 2017

Geometric gait optimization beyond two dimensions.

[BibT_eX]

[DOI]

Proceedings of the 2017 American Control Conference, 2017

2016

A review on locomotion robophysics: the study of movement at the intersection of robotics, soft matter and dynamical systems.

[BibT_eX]

[DOI]

CoRR, 2016

Geometric Swimming on a Granular Surface.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XII, University of Michigan, Ann Arbor, Michigan, USA, June 18, 2016

Mechanical Antagonism in Legged Robots.

[BibT_eX]

[DOI]

Andy Abate

Jonathan W. Hurst

Proceedings of the Robotics: Science and Systems XII, University of Michigan, Ann Arbor, Michigan, USA, June 18, 2016

Aiming and vaulting: Spider inspired leaping for jumping robots.

[BibT_eX]

[DOI]

Hossein Faraji

Ramsey Tachella

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Soap-bubble optimization of gaits.

[BibT_eX]

[DOI]

Proceedings of the 55th IEEE Conference on Decision and Control, 2016

2015

Evaluation of linear and revolute underactuated grippers for steel foundry operations.

[BibT_eX]

[DOI]

Ryan Carpenter

Ravi Balasubramanian

Ind. Robot, 2015

Wrapping a target with a tethered projectile.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Passive-dynamic leg design for agile robots.

[BibT_eX]

[DOI]

Andy Abate

Jonathan W. Hurst

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

2014

Nonlinear dimensionality reduction for kinematic cartography with an application toward robotic locomotion.

[BibT_eX]

[DOI]

Tony Dear

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

2013

Geometric Swimming at Low and High Reynolds Numbers.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2013

Snakes on a plan: Toward combining planning and control.

[BibT_eX]

[DOI]

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Minimum perturbation coordinates on SO(3).

[BibT_eX]

[DOI]

Matthew J. Travers

Proceedings of the American Control Conference, 2013

2012

Conical sidewinding.

[BibT_eX]

[DOI]

Chaohui Gong

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

2011

Geometric motion planning: The local connection, Stokes' theorem, and the importance of coordinate choice.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2011

Kinematic Cartography for Locomotion at Low Reynolds Numbers.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems VII, 2011

Geometric maneuverability with applications to low reynolds number swimming.

[BibT_eX]

[DOI]

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

2010

Generating gaits for snake robots: annealed chain fitting and keyframe wave extraction.

[BibT_eX]

[DOI]

Auton. Robots, 2010

Optimizing coordinate choice for locomoting systems.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Sidewinding on slopes.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

2009

Parameterized and Scripted Gaits for Modular Snake Robots.

[BibT_eX]

[DOI]

Adv. Robotics, 2009

Approximating displacement with the body velocity integral.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems V, University of Washington, Seattle, USA, June 28, 2009

Generating gaits for snake robots by annealed chain fitting and Keyframe wave extraction.

[BibT_eX]

[DOI]

Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

2007

Design of a modular snake robot.

[BibT_eX]

[DOI]

Manuel Gonzalez-Rivero