A5042890717- Robotic Locomotion and Control
- Modular Robots and Swarm Intelligence
- Astro and Planetary Science
- Robot Manipulation and Learning
- Software Testing and Debugging Techniques
- Robotic Path Planning Algorithms
- Planetary Science and Exploration
- Control and Dynamics of Mobile Robots
- Soft Robotics and Applications
- Laser-induced spectroscopy and plasma
University of Southern California
1993-2024
Existing work in legged robot navigation cluttered environments often seeks collision-free paths that avoid obstacle interactions. Here we present a new approach for multi-legged robots to utilize leg-obstacle collisions generate desired dynamics. To predict the change of state under repeated collisions, construct discretized directed graph model: each node represents different state, whereas edges pointing from one another represent transitions next within stride. These obstacle-modulated...
Environments with large terrain height variations present great challenges for legged robot locomotion. Drawing inspiration from fire ants' collective assembly behavior, we study strategies that can enable two ``connectable'' robots to collectively navigate over bumpy terrains larger than leg length. Each was designed be extremely simple, a cubical body and one rotary motor actuating four vertical peg legs move in pairs. Two or more could physically connect another enhance mobility. We...