Stephane Bonardi — accepted AI-conference papers

2019

Central Pattern Generators Control of Momentum Driven Compliant Structures

Stephane Bonardi, John Romanishin, Daniela Rus, Takashi Kubota

ICRA 2019poster

We introduce the concept of Momentum Driven Structures (MDS) made of inertially actuated units linked together by compliant elements as a potential solution for rough environments exploration. We propose a control method for MDS based on the bio-inspired concept of Central Pattern Generator (CPG) an…

Cited by 2 Source ↗Scholar ↗

2017

Distributed aggregation for modular robots in the pivoting cube model

Sebastian Claici, John Romanishin, Jeffrey I. Lipton, Stephane Bonardi, Kyle W. Gilpin, Daniela Rus

ICRA 2017poster

We present a distributed control strategy for the aggregation of multiple modular robots into one connected structure optimized for use with 3D modular pivoting cube robots such as the 3D M-Blocks [1]. We use the intensity from a light source as input to a decentralized control algorithm that drives…

Cited by 7 Source ↗Scholar ↗