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pro vyhledávání: '"Ross, L"'
Autor:
Cabrera, Alejandro, Hatton, Ross L.
In this paper, we study mechanical optimal control problems on a given Riemannian manifold $(Q,g)$ in which the cost is defined by a general cometric $\tilde{g}$. This investigation is motivated by our studies in robotics, in which we observed that t
Externí odkaz:
http://arxiv.org/abs/2311.05593
Geometric motion planning offers effective and interpretable gait analysis and optimization tools for locomoting systems. However, due to the curse of dimensionality in coordinate optimization, a key component of geometric motion planning, it is almo
Externí odkaz:
http://arxiv.org/abs/2309.08871
Autor:
Yang, Yanhao, Hatton, Ross L.
Inertia-dominated mechanical systems can achieve net displacement by 1) periodically changing their shape (known as kinematic gait) and 2) adjusting their inertia distribution to utilize the existing nonzero net momentum (known as momentum gait). The
Externí odkaz:
http://arxiv.org/abs/2309.07248
Publikováno v:
IEEE Robotics and Automation Letters Vol. 9, No. 8, August 2024
Miniature-legged robots are constrained by their onboard computation and control, thus motivating the need for simple, first-principles-based geometric models that connect \emph{periodic actuation or gaits} (a universal robot control paradigm) to the
Externí odkaz:
http://arxiv.org/abs/2308.14357
Discrete and periodic contact switching is a key characteristic of steady-state legged locomotion. This paper introduces a framework for modeling and analyzing this contact-switching behavior through the framework of geometric mechanics on a toy robo
Externí odkaz:
http://arxiv.org/abs/2306.10276
Autor:
Rozaidi, Farhan, Waters, Emma, Dawes, Olivia, Yang, Jennifer, Davidson, Joseph R., Hatton, Ross L.
Snake robots are characterized by their ability to navigate through small spaces and loose terrain by utilizing efficient cyclic forms of locomotion. Soft snake robots are a subset of these robots which utilize soft, compliant actuators to produce mo
Externí odkaz:
http://arxiv.org/abs/2303.15732
We present a novel general model that unifies the kinematics of constant curvature and constant twist continuum manipulators. Combining this kinematics with energy-based physics, we derive a linear mapping from actuator configuration to manipulator d
Externí odkaz:
http://arxiv.org/abs/2302.11661
Participant noncompliance, in which participants do not follow their assigned treatment protocol, often obscures the causal relationship between treatment and treatment effect in randomized trials. In the longitudinal setting, the G-computation algor
Externí odkaz:
http://arxiv.org/abs/2302.03831