Robophysics II

Presentations

• Principled understanding of dynamic multi-legged locomotion in complex terrain

  ORAL · Invited

  March 16, 2022, 4:00 PM – March 16, 2022, 4:36 PM

  Publication: Li C, Zhang T, Goldman DI (2013). A terradynamics of legged locomotion on granular media, Science, 339 (6126), 1408-1412<br>Othayoth R, Xuan Q, Wang Y, Li C (2021), Locomotor transitions in the potential energy landscape-dominated regime, Proceedings of the Royal Society B: Biological Sciences, 288 (1949): 20202734

  Presenters

  • Chen Li

    Johns Hopkins University

  Authors

  • Chen Li

    Johns Hopkins University

  View abstract →

• A mode map model to predict state transitions of multi-legged robots within obstacle fields

  ORAL

  March 16, 2022, 4:36 PM – March 16, 2022, 4:48 PM

  Presenters

  • Haodi Hu

    University of Southern California

  Authors

  • Haodi Hu

    University of Southern California

  • Matthew D Kvalheim

    University of Pennsylvania

  • Feifei Qian

    University of Southern California

  View abstract →

• Locomotion in Granular Media: A Geomechanical Perspective on Symmetry Breaking

  ORAL

  March 16, 2022, 4:48 PM – March 16, 2022, 5:00 PM

  Presenters

  • Sichuan Huang

    Arizona State University

  Authors

  • Sichuan Huang

    Arizona State University

  • Junliang Tao

    Arizona State University

  View abstract →

• Reducing model fidelity for statistical path characterization of an insect-scale robot

  ORAL

  March 16, 2022, 5:00 PM – March 16, 2022, 5:12 PM

  Presenters

  • Henry Cerbone

    Harvard University

  Authors

  • Henry Cerbone

    Harvard University

  • Perrin E Schiebel

    Harvard University

  • Robert J Wood

    Harvard University, John A. Paulson School of Engineering and Applied Sciences, Harvard University

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• A multi-legged robot traverses heterogeneous 3-D terrain via locomotor transitions

  ORAL

  March 16, 2022, 5:12 PM – March 16, 2022, 5:24 PM

  Publication: Mi J, Wang Y, *Li C, Omni-Roach: A legged robot capable of traversing multiple types of large obstacles and self-righting, IEEE International Conference on Robotics and Automation (ICRA), in review

  Presenters

  • Yaqing Wang

    Johns Hopkins University

  Authors

  • Jonathan Mi

    Johns Hopkins University

  • Yaqing Wang

    Johns Hopkins University

  • Qihan Xuan

    Johns Hopkins University

  • Chen Li

    Johns Hopkins University

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• Planning of Obstacle-aided Navigation for Multi-legged Robots using a Sampling-based Method over Directed Graphs

  ORAL

  March 16, 2022, 5:24 PM – March 16, 2022, 5:36 PM

  Presenters

  • Kaustav Chakraborty

    University of Southern California

  Authors

  • Kaustav Chakraborty

    University of Southern California

  • Matthew D Kvalheim

    University of Pennsylvania

  • Feifei Qian

    University of Southern California

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• A novel insect scale autonomous soft quadrupedal robot for locomotion through 3D complex terrain

  ORAL

  March 16, 2022, 5:36 PM – March 16, 2022, 5:48 PM

  Presenters

  • Heiko D Kabutz

    University of Colorado, Boulder

  Authors

  • Heiko D Kabutz

    University of Colorado, Boulder

  • Kaushik Jayaram

    University of Colorado, Boulder, University of Colorado Boulder

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• Low Slip Bipedal Locomotion on Granular Slopes via Cleated Foot Interaction

  ORAL

  March 16, 2022, 5:48 PM – March 16, 2022, 6:00 PM

  Presenters

  • Deniz Kerimoglu

    Georgia Institute of Technology

  Authors

  • Deniz Kerimoglu

    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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• Robophysical and simulation modeling of how leg posture affects vibration sensing in orb weaving spiders

  ORAL

  March 16, 2022, 6:00 PM – March 16, 2022, 6:12 PM

  Presenters

  • Eugene Lin

    Johns Hopkins University

  Authors

  • Eugene Lin

    Johns Hopkins University

  • Yishun Zhou

    Johns Hopkins University

  • Andrew Gordus

    Johns Hopkins University

  • Chen Li

    Johns Hopkins University

  View abstract →

• Robophysics-inspired biology experiments to study gait control for obstacle negotiation in canines

  ORAL

  March 16, 2022, 6:12 PM – March 16, 2022, 6:24 PM

  Presenters

  • Michelle Joyce

    Temple University

  Authors

  • Michelle Joyce

    Temple University

  • Simon Wilshin

    Royal Veterinary College

  • Andrew Spence

    Temple University

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• SLIP-Inspired Hopping on Yielding Terrain

  ORAL

  March 16, 2022, 6:24 PM – March 16, 2022, 6:36 PM

  Presenters

  • Daniel J Lynch

    Northwestern University

  Authors

  • Daniel J Lynch

    Northwestern University

  • Kevin M Lynch

    Northwestern University

  • Paul B Umbanhowar

    Northwestern University

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• Passive mechanical limb features facilitate rough terrain locomotion of an insect-scale robot.

  ORAL

  March 16, 2022, 6:36 PM – March 16, 2022, 6:48 PM

  Presenters

  • Perrin E Schiebel

    Harvard University

  Authors

  • Perrin E Schiebel

    Harvard University

  • Pierre-Louis Lechere

    Harvard University, EPFL

  • Robert J Wood

    Harvard University, John A. Paulson School of Engineering and Applied Sciences, Harvard University

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• Force sensing facilitates traversal in cluttered beams with interaction

  ORAL

  March 16, 2022, 6:48 PM – March 16, 2022, 7:00 PM

  Publication: Q. Xuan, Y. Wang, and C. Li. Environmental force sensing enables robots to traverse cluttered obstacles with interaction. IEEE Robotics and Automation Letters, submitted.

  Presenters

  • Qihan Xuan

    Johns Hopkins University

  Authors

  • Qihan Xuan

    Johns Hopkins University

  • Yaqing Wang

    Johns Hopkins University

  • Chen Li

    Johns Hopkins University

  View abstract →