Zobrazeno 1 - 10
of 13 983
pro vyhledávání: '"Ross, L."'
Optimal control plays a crucial role in numerous mechanical and robotic applications. Broadly, optimal control methods are divided into direct methods (which optimize trajectories directly via discretization) and indirect methods (which transform opt
Externí odkaz:
http://arxiv.org/abs/2410.09657
Autor:
Yang, Yanhao, Hatton, Ross L.
Recent advancements in soft actuators have enabled soft continuum swimming robots to achieve higher efficiency and more closely mimic the behaviors of real marine animals. However, optimizing the design and control of these soft continuum robots rema
Externí odkaz:
http://arxiv.org/abs/2409.15220
Autor:
Choi, Jinwoo, Hatton, Ross L.
Robotic locomotion often relies on sequenced gaits to efficiently convert control input into desired motion. Despite extensive studies on gait optimization, achieving smooth and efficient gait transitions remains challenging. In this paper, we propos
Externí odkaz:
http://arxiv.org/abs/2409.09224
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