Zobrazeno 1 - 10
of 129
pro vyhledávání: '"Revzen, Shai"'
Autor:
Anderson, Marion, Revzen, Shai
Many problems in robotics involve creating or breaking multiple contacts nearly simultaneously or in an indeterminate order. We present a novel general purpose numerical integrator based on the theory of Event Selected Systems (ESS). Many multicontac
Externí odkaz:
http://arxiv.org/abs/2402.00279
Multi-legged robots with six or more legs are not in common use, despite designs with superior stability, maneuverability, and a low number of actuators being available for over 20 years. This may be in part due to the difficulty in modeling multi-le
Externí odkaz:
http://arxiv.org/abs/2310.20669
Both legged locomotion and slithering motions typically utilize periodic gaits -- repeating cycles of body shape change that produce a net motion through the world. Legged locomotion can be viewed from the perspective of piece-wise contact constraint
Externí odkaz:
http://arxiv.org/abs/2205.00837
Oscillators are ubiquitous in nature, and usually associated with the existence of an asymptotic phase that governs the long-term dynamics of the oscillator. % We show that asymptotic phase can be estimated using a carefully chosen series expansion w
Externí odkaz:
http://arxiv.org/abs/2203.04498
Autor:
Garimella, Sandilya Sai, Revzen, Shai
Agriculture is currently undergoing a robotics revolution, but robots using wheeled or treads suffer from known disadvantages: they are unable to move over rubble and steep or loose ground, and they trample continuous strips of land thereby reducing
Externí odkaz:
http://arxiv.org/abs/2112.05383
The "Phase Response Curve" (PRC) is a common tool used to analyze phase resetting in the natural sciences. We make the observation that the PRC with respect to a coordinate $y\in\mathbb{R}$ actually depends on the full choice of coordinates $(x,y)$,
Externí odkaz:
http://arxiv.org/abs/2111.06511
Dynamic Mode Decomposition (DMD) is a powerful tool for extracting spatial and temporal patterns from multi-dimensional time series, and it has been used successfully in a wide range of fields, including fluid mechanics, robotics, and neuroscience. T
Externí odkaz:
http://arxiv.org/abs/2109.01710
Autor:
Bittner, Brian, Revzen, Shai
Many robots move through the world by composing locomotion primitives like steps and turns. To do so well, robots need not have primitives that make intuitive sense to humans. This becomes of paramount importance when robots are damaged and no longer
Externí odkaz:
http://arxiv.org/abs/2107.08775
This paper concerns the first-order approximation of the piecewise-differentiable flow generated by a class of nonsmooth vector fields. Specifically, we represent and compute the Bouligand (or B-)derivative of the piecewise-$C^r$ flow generated by an
Externí odkaz:
http://arxiv.org/abs/2102.10702
Systems whose movement is highly dissipative provide an opportunity to both identify models easily and quickly optimize motions. Geometric mechanics provides means for reduction of the dynamics by environmental homogeneity, while the dissipative natu
Externí odkaz:
http://arxiv.org/abs/2012.11064