Hari Krishna Hari Prasad

2 accepted papers

2024

Geometrically Modulable Gait Design for Quadrupeds

Hari Krishna Hari Prasad, Ross L. Hatton, Kaushik Jayaram

RA-L 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 <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">periodic actuation or gaits</i

Cited by 1 Source ↗Scholar ↗

2023

Geometric Mechanics of Contact-Switching Systems

Hari Krishna Hari Prasad, Ross L. Hatton, Kaushik Jayaram

RA-L 2023

Discrete and periodic contact switching is a key characteristic of steady-state legged locomotion. This letter introduces a framework for modeling and analyzing this contact-switching behavior through the framework of geometric mechanics on a toy robot model that can make continuous limb swings and

Cited by 3 Source ↗code ↗Scholar ↗