Reuben Govender

2 accepted papers

2023

Getting Air: Modelling and Control of a Hybrid Pneumatic-Electric Legged Robot

Christopher Mailer, Stacey Shield, Reuben Govender, Amir Patel

ICRA 2023poster

With their combination of power and compliance, pneumatic actuators have great potential for enabling dynamic and agile behaviors in legged robots, but their complex dynam-ics impose control challenges that have hindered widespread use. In this paper, we describe the development of a tractable model…

Cited by 4 Source ↗Scholar ↗

2021

Optimization-Inspired Controller Design for Transient Legged Locomotion

Callen Fisher, Joshua Van Zyl, Reuben Govender, Amir Patel

ICRA 2021poster

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…

Cited by 3 Source ↗Scholar ↗