Dynamic modeling of wing-assisted inclined running with a morphing multi-modal robot

E Sihite, A Ramezani, M Gharib - 2024 IEEE International …, 2024 - ieeexplore.ieee.org
Robot designs can take many inspirations from nature, where there are many examples of
highly resilient and fault-tolerant locomotion strategies to navigate complex terrains by using …

How strong a kick should be to topple northeastern's tumbling robot?

A Salagame, N Bhattachan, A Caetano… - 2024 IEEE …, 2024 - ieeexplore.ieee.org
Rough terrain locomotion has remained one of the most challenging mobility questions. In
2022, NASA's Innovative Advanced Concepts (NIAC) Program invited US academic …

Demonstrating autonomous 3d path planning on a novel scalable ugv-uav morphing robot

E Sihite, F Slezak, I Mandralis… - 2023 IEEE/RSJ …, 2023 - ieeexplore.ieee.org
Some animals exhibit multi-modal locomotion capability to traverse a wide range of terrains
and environments, such as amphibians that can swim and walk or birds that can fly and …

Quadrupedal Locomotion Control On Inclined Surfaces Using Collocation Method

A Salagame, M Gianello, C Wang… - 2024 American …, 2024 - ieeexplore.ieee.org
Inspired by Chukars wing-assisted incline running (WAIR), in this work, we employ a high-
fidelity model of our Husky Carbon quadrupedal-legged robot to walk over steep slopes of …

Efficient path planning and tracking for multi-modal legged-aerial locomotion using integrated probabilistic road maps (prm) and reference governors (rg)

E Sihite, B Mottis, P Ghanem… - 2022 IEEE 61st …, 2022 - ieeexplore.ieee.org
There have been several successful implementations of bio-inspired legged robots that can
trot, walk, and hop robustly even in the presence of significant unplanned disturbances …

Snake Robot with Tactile Perception Navigates on Large-scale Challenging Terrain

S Jiang, A Salagame, A Ramezani… - … on Robotics and …, 2024 - ieeexplore.ieee.org
Along with the advancement of robot skin technology, there has been notable progress in
the development of snake robots featuring body-surface tactile perception. In this study, we …

Legged Walking on Inclined Surfaces

C Wang - 2023 - search.proquest.com
The main contributions of this MS Thesis is centered around taking steps towards successful
multi-modal demonstrations using Northeastern's legged-aerial robot, Husky Carbon. This …

A letter on progress made on husky carbon: A legged-aerial, multi-modal platform

A Salagame, S Manjikian, C Wang… - arXiv preprint arXiv …, 2022 - arxiv.org
Animals, such as birds, widely use multi-modal locomotion by combining legged and aerial
mobility with dominant inertial effects. The robotic biomimicry of this multi-modal locomotion …

Hierarchical RL-Guided Large-scale Navigation of a Snake Robot

S Jiang, A Salagame, A Ramezani… - 2024 IEEE …, 2024 - ieeexplore.ieee.org
Classical snake robot control leverages mimicking snake-like gaits tuned for specific
environments. However, to operate adaptively in unstructured environments, gait generation …

Optimization-free ground contact force constraint satisfaction in quadrupedal locomotion

E Sihite, P Dangol, A Ramezani - 2021 60th IEEE Conference …, 2021 - ieeexplore.ieee.org
We are seeking control design paradigms for legged systems that allow bypassing costly
algorithms that depend on heavy on-board computers widely used in these systems and yet …