Multilegged matter transport: A framework for locomotion on noisy landscapes
Whereas the transport of matter by wheeled vehicles or legged robots can be guaranteed in
engineered landscapes such as roads or rails, locomotion prediction in complex …
engineered landscapes such as roads or rails, locomotion prediction in complex …
Adaptive gait modeling and optimization for principally kinematic systems
Robotic adaptation to unanticipated operating conditions is crucial to achieving persistence
and robustness in complex real world settings. For a wide range of cutting-edge robotic …
and robustness in complex real world settings. For a wide range of cutting-edge robotic …
Dynamics of centipede locomotion revealed by large-scale traction force microscopy
JP Rieu, H Delanoë-Ayari… - Journal of the …, 2024 - royalsocietypublishing.org
We present a novel approach to traction force microscopy (TFM) for studying the locomotion
of 10 cm long walking centipedes on soft substrates. Leveraging the remarkable elasticity …
of 10 cm long walking centipedes on soft substrates. Leveraging the remarkable elasticity …
Geometrically modulable gait design for quadrupeds
HKH Prasad, RL Hatton… - IEEE Robotics and …, 2024 - ieeexplore.ieee.org
Miniature-legged robots are constrained by their onboard computation and control, thus
motivating the need for simple, first-principles-based geometric models that connect periodic …
motivating the need for simple, first-principles-based geometric models that connect periodic …
Geometric Mechanics of Contact-Switching Systems
HKH Prasad, RL Hatton… - IEEE Robotics and …, 2023 - ieeexplore.ieee.org
Discrete and periodic contact switching is a key characteristic of steady-state legged
locomotion. This letter introduces a framework for modeling and analyzing this contact …
locomotion. This letter introduces a framework for modeling and analyzing this contact …
Geometry of contact: contact planning for multi-legged robots via spin models duality
Contact planning is crucial in locomoting systems. Specifically, appropriate contact planning
can enable versatile behaviors (eg, sidewinding in limbless locomotors) and facilitate speed …
can enable versatile behaviors (eg, sidewinding in limbless locomotors) and facilitate speed …
Geometric Mechanics of Simultaneous Nonslip Contact in a Planar Quadruped
HKH Prasad, K Jayaram - arXiv preprint arXiv:2308.14357, 2023 - arxiv.org
In this paper, we develop a geometric framework for generating non-slip quadrupedal two-
beat gaits. We consider a four-bar mechanism as a surrogate model for a contact state and …
beat gaits. We consider a four-bar mechanism as a surrogate model for a contact state and …
Modeling and Gait Control for Principally Kinematic Locomotion Systems
S Deng - 2024 - jscholarship.library.jhu.edu
Geometric mechanics provides a framework through which top-down insights permit novel
motion planning approaches to a broad class of locomotion systems with symmetry …
motion planning approaches to a broad class of locomotion systems with symmetry …
Systems Engineering Enhanced by AI-Driven Multiphysics Simulation: Multiphysics Modeling and Simulation with Artificial Intelligence/Multiphysics Modeling and …
JP Heilala - Proceedings of the 2024 International Conference on …, 2024 - dl.acm.org
Recent advancements in artificial intelligence (AI) allow for more sophisticated modeling
and simulation of complex engineering systems. This research explores the application of AI …
and simulation of complex engineering systems. This research explores the application of AI …
Probing hydrodynamic fluctuation-induced forces with an oscillating robot
We study the dynamics of an oscillating, free-floating robot that generates radially expanding
gravity-capillary waves at a fluid surface. In open water, the device does not self-propel; near …
gravity-capillary waves at a fluid surface. In open water, the device does not self-propel; near …