6 accepted papers
Modeling the Coulomb Friction Cone in trajectory optimization is typically done by linearizing it along a series of vectors. Often, these vectors define the edges of polyhedral estimations of the cone. This article provides an alternate approach that samples the cone along a vector that satisfies th…
For robots to leave the safety of the laboratory and explore the world, maneuverability will need to be mastered. However, transient motions, such as rapid acceleration and deceleration, have received little attention in the literature. This is mainly due to the complexity of analyzing these high di…
Transient locomotion is still poorly understood in terms of planning and implementation on robotic platforms, with most research concentrated on steady-state motion. In this letter, we investigate optimal rapid acceleration (positive and negative) maneuvers of a planar numerical quadruped and biped
The natural world hosts a few mammals that display both a high degree of agility and speed. However these animals have complex leg morphologies. Robot designers are thus faced with the dilemma of which morphology to employ when designing the next generation of agile legged robots. Thus this letter p…
An actuated spine appears to be a critical component for maneuverability in quadruped animals. However, robotic systems have yet to capitalize on this mechanism. This research compares three different spine morphologies in the planar case, namely the rigid, revolute and prismatic spine. Using a wide…
This paper presents a novel approach to achieving aerial pitch righting in a mobile robot, inspired by the draglines used by jumping spiders. We developed and simulated a mathematical model of the spider during the aerial phase of its jump to gain further insight into the factors affecting the pitch…