#### Filter Results:

- Full text PDF available (25)

#### Publication Year

1981

2017

- This year (2)
- Last 5 years (20)
- Last 10 years (32)

#### Publication Type

#### Co-author

#### Journals and Conferences

#### Key Phrases

#### Method

Learn More

- Matthew Tesch, Kevin Lipkin, +4 authors Howie Choset
- Advanced Robotics
- 2009

Snake robots, sometimes called hyper-redundant mechanisms, can use their many degrees of freedom to achieve a variety of locomotive capabilities. These capabilities are ideally suited for disaster response because the snake robot can thread through tightly packed volumes, accessing locations that people and conventional machinery otherwise cannot. Snake… (More)

- Ross L. Hatton, Howie Choset
- IEEE Transactions on Robotics
- 2013

Several efforts have recently been made to relate the displacement of swimming three-link systems over strokes to geometric quantities of the strokes. In doing so, they provide powerful, intuitive representations of the bounds on a system's locomotion capabilities and the forms of its optimal strokes or gaits. While this approach has been successful for… (More)

- Cornell Wright, Aaron M. Johnson, +6 authors Howie Choset
- 2007 IEEE/RSJ International Conference on…
- 2007

Many factors such as size, power, and weight constrain the design of modular snake robots. Meeting these constraints requires implementing a complex mechanical and electrical architecture. Here we present our solution, which involves the construction of sixteen aluminum modules and creation of the Super Servo, a modified hobby servo. To create the Super… (More)

- Ross L. Hatton, Howie Choset
- 2009 IEEE/RSJ International Conference on…
- 2009

Snake robots have many degrees of freedom, which makes them both extremely versatile and complex to control. In this paper, we address this complexity by introducing two algorithms. Annealed chain fitting efficiently maps a continuous backbone curve to a set of joint angles for a snake robot. Keyframe wave extraction takes joint angles fit to a sequence of… (More)

- Ross L. Hatton, Yang Ding, Howie Choset, Daniel I. Goldman
- Physical review letters
- 2013

Combining geometric mechanics theory, laboratory robotic experiment, and numerical simulation, we study the locomotion in granular media of the simplest noninertial swimmer, the Purcell three-link swimmer. Using granular resistive force laws as inputs, the theory relates translation and rotation of the body to shape changes (movements of the links). This… (More)

- Ross L. Hatton, Howie Choset
- 2010 IEEE International Conference on Robotics…
- 2010

Gait evaluation techniques that use Stokes's theorem to integrate a system's equations of motion have traditionally been limited to finding only the net rotations or small translations produced by gaits. Recently, we have observed that certain choices of generalized coordinates allow these techniques to be extended to gaits that produce large translations.… (More)

Whereas the predominant shapes of most animal tails are cylindrical, seahorse tails are square prisms. Seahorses use their tails as flexible grasping appendages, in spite of a rigid bony armor that fully encases their bodies. We explore the mechanics of two three-dimensional-printed models that mimic either the natural (square prism) or hypothetical… (More)

- Ross L. Hatton, Howie Choset
- Robotics: Science and Systems
- 2009

In this paper, we present a technique for approximating the net displacement of a locomoting system over a gait without directly integrating its equations of motion. The approximation is based on a volume integral, which, among other benefits, is more open to optimization by algorithm or inspection than is the full displacement integral. Specifically, we… (More)

- Andy Abate, Jonathan W. Hurst, Ross L. Hatton
- Robotics: Science and Systems
- 2016

In this work, we use first principles of kinematics to provide a fundamental insight into mechanical power distribution within multi-actuator machines. Individual actuator powers—not their net sum—determine the efficiency and actuator size of a multi-joint machine. Net power delivered to the environment naturally discards important information about how… (More)

- Ross L. Hatton, Howie Choset
- I. J. Robotics Res.
- 2011

The locomotion of articulated mechanical systems is often complex and unintuitive, even when considered with the aid of reduction principles from geometric mechanics. In this paper, we present two tools for gaining insights into the underlying principles of locomotion: connection vector fields and connection height functions. Connection vector fields… (More)