Robophysics I

Presentations

• The Physics of Interactions in Soft Robotics

  ORAL · Invited

  March 15, 2022, 4:00 PM – March 15, 2022, 4:36 PM

  Presenters

  • Cecilia Laschi

    National University of Singapore

  Authors

  • Cecilia Laschi

    National University of Singapore

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• Worm omega turn modeling and its limbless robot implementation via geometric mechanics

  ORAL

  March 15, 2022, 4:36 PM – March 15, 2022, 4:48 PM

  Presenters

  • Tianyu Wang

    Georgia Institute of Technology

  Authors

  • Tianyu Wang

    Georgia Institute of Technology

  • Baxi Chong

    Georgia Institute of Technology

  • Kelimar Diaz

    Georgia Institute of Technology

  • Yuelin Deng

    Carnegie Mellon University

  • Ruijie Fu

    Carnegie Mellon University

  • Hang Lu

    Georgia Institute of Technology

  • Howie Choset

    Carnegie Mellon University

  • Daniel I Goldman

    georgia tech, Georgia Institute of Technology, Georgia Institute of Technology, Atlalta, GA, Georgia Tech

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• Locomotion planning and control for discretely-soft bodied legged robots

  ORAL

  March 15, 2022, 4:48 PM – March 15, 2022, 5:00 PM

  Presenters

  • Hari Krishna Hari Prasad

    University of Colorado, Boulder

  Authors

  • Hari Krishna Hari Prasad

    University of Colorado, Boulder

  • Kaushik Jayaram

    University of Colorado, Boulder, University of Colorado Boulder

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• Snake robot uses vertical bending with force feedback control to traverse large obstacles

  ORAL

  March 15, 2022, 5:00 PM – March 15, 2022, 5:12 PM

  Publication: Q. Fu and C. Li, "Snake robot traversing large obstacles using vertical bending with force feedback," in IEEE International Conference on Robotics and Automation (ICRA), 2022, in review.

  Presenters

  • Qiyuan Fu

    Johns Hopkins University

  Authors

  • Qiyuan Fu

    Johns Hopkins University

  • Chen Li

    Johns Hopkins University

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• A Modular Approach to Discrete Differential Geometry-based Simulation of Soft Robots

  ORAL

  March 15, 2022, 5:12 PM – March 15, 2022, 5:24 PM

  Presenters

  • Yayun Du

    University of California, Los Angeles

  Authors

  • Mohammad Khalid Jawed

    University of California, Los Angeles

  • Yayun Du

    University of California, Los Angeles

  • Mrunmayi Mungekar

    University of California, Los Angeles

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• Coordinating tiny limbs and long bodies: geometric mechanics of diverse undulatory lizard locomotion

  ORAL

  March 15, 2022, 5:24 PM – March 15, 2022, 5:36 PM

  Presenters

  • Baxi Chong

    Georgia Institute of Technology

  Authors

  • Baxi Chong

    Georgia Institute of Technology

  • Tianyu Wang

    Georgia Institute of Technology

  • Eva Erickson

    Georgia Institute of Technology

  • Philip J Bergmann

    Department of Biology, Clark University

  • Daniel I Goldman

    georgia tech, Georgia Institute of Technology, Georgia Institute of Technology, Atlalta, GA, Georgia Tech

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• Bio-inspired sensing and control of soft slithering bodies in 3D environments

  ORAL

  March 15, 2022, 5:36 PM – March 15, 2022, 5:48 PM

  Presenters

  • Xiaotian Zhang

    University of Illinois at Urbana-Champai

  Authors

  • Xiaotian Zhang

    University of Illinois at Urbana-Champai

  • Tixian Wang

    University of Illinois at Urbana-Champaign

  • Andrew Dou

    University of Illinois at Urbana-Champaign

  • Prashant Mehta

    University of Illinois at Urbana-Champaign

  • Mattia Gazzola

    University of Illinois at Urbana-Champaign

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• Enhancing Manueverability via Gait Design

  ORAL

  March 15, 2022, 5:48 PM – March 15, 2022, 6:00 PM

  Publication: Enhancing Maneuverability via Gait Design, submitted, ICRA 2022

  Presenters

  • Siming Deng

    Johns Hopkins University

  Authors

  • Siming Deng

    Johns Hopkins University

  • Ross L Hatton

    Oregon State University

  • Noah J Cowan

    Johns Hopkins University

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• Granulobot: From granular matter to self-assembling and reconfigurable robotics

  ORAL

  March 15, 2022, 6:00 PM – March 15, 2022, 6:12 PM

  Presenters

  • Baudouin Saintyves

    University of Chicago

  Authors

  • Baudouin Saintyves

    University of Chicago

  • Matthew Spenko

    Illinois Institute of Technology

  • Heinrich M Jaeger

    University of Chicago

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• Manipulating propulsive forces with mulitple fins: Understanding how the relative location, phase relationship, compliance and flapping frequency of fins affect the swimming forces and associated flows

  ORAL

  March 15, 2022, 6:12 PM – March 15, 2022, 6:24 PM

  Publication: Mignano, A. P., Kadapa, S., Tangorra, J. L., & Lauder, G. V. (2019). Passing the Wake: Using Multiple Fins to Shape Forces for Swimming. Biomimetics (Basel, Switzerland), 4(1), 23. https://doi.org/10.3390/biomimetics4010023<br><br>Planned: Mignano, A. P., Kadapa, S., Drago, A., Tangorra, J. L., & Lauder, G. V. (2021) Affects of Geometric Spacing, Fin Phasing, Compliance and Flapping Frequency on the Swimming Forces Produced by a Pair of Fish-like Fins. Science Robotics

  Presenters

  • Anthony Mignano

    Drexel University

  Authors

  • Anthony Mignano

    Drexel University

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• Mismatch of body undulation and limb waves enables robust centipede locomotion

  ORAL

  March 15, 2022, 6:24 PM – March 15, 2022, 6:36 PM

  Presenters

  • Juntao He

    Georgia Institute of Technology

  Authors

  • Juntao He

    Georgia Institute of Technology

  • Tianyu Wang

    Georgia Institute of Technology

  • Baxi Chong

    Georgia Institute of Technology

  • Kelimar Diaz

    Georgia Institute of Technology

  • Eva Erickson

    Georgia Institute of Technology

  • Daniel I Goldman

    georgia tech, Georgia Institute of Technology, Georgia Institute of Technology, Atlalta, GA, Georgia Tech

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• Studying force generation and control in snakes using a sensorized robot

  ORAL

  March 15, 2022, 6:36 PM – March 15, 2022, 6:48 PM

  Publication: D. Ramesh, Q. Fu, C. Li, "SenSnake: A snake robot with contact force sensing for studying locomotion in complex 3-D terrain", IEEE International Conference on Robotics and Automation (ICRA), in review.

  Presenters

  • Divya Ramesh

    Johns Hopkins University

  Authors

  • Divya Ramesh

    Johns Hopkins University

  • Qiyuan Fu

    Johns Hopkins University

  • Chen Li

    Johns Hopkins University

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• Emergence of undulation gait based on embodied position controller and filter

  ORAL

  March 15, 2022, 6:48 PM – March 15, 2022, 7:00 PM

  Publication: An extended version will be submitted to IROS2022.

  Presenters

  • Longchuan Li

    Ritsumeikan University

  Authors

  • Longchuan Li

    Ritsumeikan University

  • Shugen Ma

    Ritsumeikan University

  • Isao T Tokuda

    Ritsumeikan University

  View abstract →