arXiv subjects

Farhan Rozaidi

Publications and source records attributed to Farhan Rozaidi.

3 recordsLinked to original sources

arXiv2025

Geometric Data-Driven Multi-Jet Locomotion Inspired by Salps

Salps are marine animals consisting of chains of jellyfish-like units. Their efficient underwater locomotion by coordinating multi-jet propulsion has aroused great interest in robotics. This paper presents a geometric mechanics framework for salp-inspired robots. We study a new type of geometric mechanics models inspired by salps, in which control inputs are not restricted to the shape axes, analyze nonlinear controllability, and develop motion planning and feedback control methods. We introduce the "LandSalp" robot, which serves as a physical realization of the reduced-order, drag-dominated model of salp swimming, enabling controlled evaluation of locomotion strategies without many confounding factors of underwater experiments. We extend least-squares- and inverse-dynamics-based system identification to learn the Riemannian metric of the drag-dominated model from experimental data using Lie group differentiation. With about three minutes of data, we identify an accurate model of LandSalp. Simulation and hardware experiments demonstrate omnidirectional locomotion, shape regulation, and bending maneuvers, providing a principled pathway toward more capable salp-inspired robots.

cs.RO↗

arXiv2023

HISSbot: Sidewinding with a Soft Snake Robot

Snake robots are characterized by their ability to navigate through small spaces and loose terrain by utilizing efficient cyclic forms of locomotion. Soft snake robots are a subset of these robots which utilize soft, compliant actuators to produce movement. Prior work on soft snake robots has primarily focused on planar gaits, such as undulation. More efficient spatial gaits, such as sidewinding, are unexplored gaits for soft snake robots. We propose a novel means of constructing a soft snake robot capable of sidewinding, and introduce the Helical Inflating Soft Snake Robot (HISSbot). We validate this actuation through the physical HISSbot, and demonstrate its ability to sidewind across various surfaces. Our tests show robustness in locomotion through low-friction and granular media.

cs.RO↗

arXiv2023

Linear Kinematics for General Constant Curvature and Torsion Manipulators

We present a novel general model that unifies the kinematics of constant curvature and constant twist continuum manipulators. Combining this kinematics with energy-based physics, we derive a linear mapping from actuator configuration to manipulator deformation that is analogous to traditional robot forward kinematics. Our model generalizes across manipulators with different sizes, types of bending, and types of actuators, without the need for parameter re-fitting. The combination of generality and linearity makes the model useful for control and planning algorithms. Finally, our model is shown to be accurate through experimental validation on manipulators with pneumatic artificial muscles.

cs.RO↗