3 accepted papers
Sidewinder rattlesnakes generate movement through coordinated lateral and vertical traveling waves of body curvature. Previous biological and robotic studies have demonstrated that proper control and coordination of these two waves enables robust and versatile locomotion in complex environments. How…
Motion planning for mobile robots with many degrees-of-freedom (DoF) is challenging due to their high-dimensional configuration spaces. To manage this curse of dimensionality, this paper proposes a new hierarchical framework that decomposes the system into sub-systems (based on shared capabilities o…
Many quadrupedal animals have lateral degrees of freedom in their backs that assist locomotion. This paper seeks to use a robotic model to demonstrate that back bending assists not only forward motion, but also lateral and turning motions. This paper uses geometric mechanics to prescribe gaits that…