相关论文: Geometric analysis of gaits and optimal control fo…
Elongate animals and robots use undulatory body waves to locomote through diverse environments. Geometric mechanics provides a framework to model and optimize such systems in highly damped environments, connecting a prescribed shape change…
Robotic locomotion often relies on sequenced gaits to efficiently convert control input into desired motion. Despite extensive studies on gait optimization, achieving smooth and efficient gait transitions remains challenging. In this paper,…
Recent advancements in soft actuators have enabled soft continuum swimming robots to achieve higher efficiency and more closely mimic the behaviors of real marine animals. However, optimizing the design and control of these soft continuum…
Robotic adaptation to unanticipated operating conditions is crucial to achieving persistence and robustness in complex real world settings. For a wide range of cutting-edge robotic systems, such as micro- and nano-scale robots, soft robots,…
Inertia-dominated mechanical systems can achieve net displacement by 1) periodically changing their shape (known as kinematic gait) and 2) adjusting their inertia distribution to utilize the existing nonzero net momentum (known as momentum…
Robotic swimmers are currently a subject of extensive research and development for several underwater applications. Clever design and planning must rely on simple theoretical models that account for the swimmer's hydrodynamics in order to…
Motion planning for locomotion systems typically requires translating high-level rigid-body tasks into low-level joint trajectories-a process that is straightforward for car-like robots with fixed, unbounded actuation inputs but more…
In this paper, we present a geometric variational algorithm for optimizing the gaits of kinematic locomoting systems. The dynamics of this algorithm are analogous to the physics of a soap bubble, with the system's Lie bracket supplying an…
A key problem in robotic locomotion is in finding optimal shape changes to effectively displace systems through the world. Variational techniques for gait optimization require estimates of body displacement per gait cycle; however, these…
Geometric motion planning offers effective and interpretable gait analysis and optimization tools for locomoting systems. However, due to the curse of dimensionality in coordinate optimization, a key component of geometric motion planning,…
Isolated mechanical systems -- e.g., those floating in space, in free-fall, or on a frictionless surface -- are able to achieve net rotation by cyclically changing their shape, even if they have no net angular momentum. Similarly, swimmers…
Combining geometric mechanics theory, laboratory robotic experiment and numerical simulation, we study the locomotion in granular media (GM) of the simplest non-inertial swimmer, the Purcell three-link swimmer. Using granular resistive…
Optimal gait design is important for micro-organisms and micro-robots that propel themselves in a fluid environment in the absence of external force or torque. The simplest models of shape changes are those that comprise a series of…
The controllability of a fully three-dimensional $N$-link swimmer is studied. After deriving the equations of motion in a low Reynolds number fluid by means of Resistive Force Theory, the controllability of the minimal $2$-link swimmer is…
The robotic locomotion community is interested in optimal gaits for control. Based on the optimization criterion, however, there could be a number of possible optimal gaits. For example, the optimal gait for maximizing displacement with…
This paper presents a gait optimization and motion planning framework for a class of locomoting systems with mixed kinematic and dynamic properties. Using Lagrangian reduction and differential geometry, we derive a general dynamic model…
The biomechanics of the human body gives subjects a high degree of freedom in how they can execute movement. Nevertheless, subjects exhibit regularity in their movement patterns. One way to account for this regularity is to suppose that…
In this paper we address the question of the optimal design for the Purcell 3-link swim-mer. More precisely we investigate the best link length ratio which maximizes its displace-ment. The dynamics of the swimmer is expressed as an ODE,…
Many forms of locomotion, both natural and artificial, are dominated by viscous friction in the sense that without power expenditure they quickly come to a standstill. From geometric mechanics, it is known that for swimming at the…
This study investigates the dynamics and controllability of a Purcell three-link microswimmer equipped with passive elastic torsional coils at its joints. By controlling the spontaneous curvature, we analyse the swimmers motion using both…