Grigoriy Blekherman — accepted AI-conference papers

2023

Gait design for limbless obstacle aided locomotion using geometric mechanics

Baxi Chong, Tianyu Wang, Daniel Irvine, Velin Kojouharov, Bo Lin, Howie Choset +2

RSS 2023poster

Limbless robots have the potential to maneuver through cluttered environments that conventional robots cannot traverse. As illustrated in their biological counterparts such as snakes and nematodes, limbless locomotors can benefit from interactions with obstacles, yet such obstacle-aided locomotion (…

Cited by 5 Source ↗PDF ↗Scholar ↗

2021

Moving sidewinding forward: optimizing contact patterns for limbless robots via geometric mechanics

Baxi Chong, Tianyu Wang, Bo Lin, Shengkai Li, Howie Choset, Grigoriy Blekherman +1

RSS 2021poster

Contact planning is crucial to the locomotion performance of limbless robots. Typically; the pattern by which contact is made and broken between the mechanism and its environment determines the motion of the robot. The design of these patterns; often called contact patterns; is a difficult problem.…

Cited by 12 Source ↗PDF ↗Scholar ↗