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Adarsh Salagame

Research Area

Morphing Robots and Multimodality

Robots that can change their shape and mode of locomotion to adapt to different environments and tasks.

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Morphing Robots and Multimodality

Papers

Related papers

24 listed

[PAPER] Conjugate momentum based thruster force estimate in dynamic multimodal robot
Paper · 2025

[PAPER] Conjugate momentum based thruster force estimate in dynamic multimodal robot

In a multi-modal system which combines thruster and legged locomotion such our state-of-the-art Harpy platform to perform dynamic locomotion. Therefore, it is very important to…
[PAPER] Crater Observing Bioinspired Rolling Articulator (COBRA)
Paper · 2025

[PAPER] Crater Observing Bioinspired Rolling Articulator (COBRA)

NASA aims to establish a sustainable human basecamp on the Moon as a stepping stone for future missions to Mars and beyond. The discovery of water ice on the Moon's craters…
[PAPER] Dynamic Quadrupedal Legged and Aerial Locomotion via Structure Repurposing
Paper · 2025

[PAPER] Dynamic Quadrupedal Legged and Aerial Locomotion via Structure Repurposing

Multi-modal ground-aerial robots have been extensively studied, with a significant challenge lying in the integration of conflicting requirements across different modes of…
[PAPER] NMPC-Based Unified Posture Manipulation and Thrust Vectoring for Fault Recovery
Paper · 2025

[PAPER] NMPC-Based Unified Posture Manipulation and Thrust Vectoring for Fault Recovery

Multi-rotors face significant risks, as actuator failures at high altitudes can easily result in a crash and the robot’s destruction. Therefore, rapid fault recovery in the event…
[PAPER] Quadratic Programming-Based Posture Manipulation and Thrust-vectoring for Agile Dynamic Walking on Narrow Pathways
Paper · 2025

[PAPER] Quadratic Programming-Based Posture Manipulation and Thrust-vectoring for Agile Dynamic Walking on Narrow Pathways

There has been significant advancement in legged robot’s agility where they can show impressive acrobatic maneuvers, such as parkour. These maneuvers rely heavily on posture…
[PAPER] Self-Supervised Cost of Transport Estimation for Multimodal Path Planning
Paper · 2025

[PAPER] Self-Supervised Cost of Transport Estimation for Multimodal Path Planning

Autonomous robots operating in real environments are often faced with decisions on how best to navigate their surroundings. In this work, we address a particular instance of this…
[PAPER] Thruster-Assisted Incline Walking of a Legged-Aerial Robot Using Reduced Order Model and Collocation Method
Paper · 2025

[PAPER] Thruster-Assisted Incline Walking of a Legged-Aerial Robot Using Reduced Order Model and Collocation Method

In this study, our aim is to evaluate the effectiveness of thruster-assisted steep slope walking for the Husky Carbon, a quadrupedal robot equipped with custom-designed actuators…
[PAPER] Bounding Flight Control of Dynamic Morphing Wings
Paper · 2024

[PAPER] Bounding Flight Control of Dynamic Morphing Wings

Vertebrate flyers perform intermittent flights as bounding or oscillating flights for power management. Intermittent flights and the resulting oscillating height during flapping…
[PAPER] Capture Point Control in Thruster-Assisted Bipedal Locomotion
Paper · 2024

[PAPER] Capture Point Control in Thruster-Assisted Bipedal Locomotion

Despite major advancements in control design that are robust to unplanned disturbances, bipedal robots are still susceptible to falling over and struggle to negotiate rough…
[PAPER] Dynamic Posture Manipulation During Tumbling for Closed-Loop Heading Angle Control
Paper · 2024

[PAPER] Dynamic Posture Manipulation During Tumbling for Closed-Loop Heading Angle Control

Passive tumbling uses natural forces like gravity for efficient travel. But without an active means of control, passive tumblers must rely entirely on external forces.…
[PAPER] Enabling steep slope walking on Husky using reduced order modeling and quadratic programming
Paper · 2024

[PAPER] Enabling steep slope walking on Husky using reduced order modeling and quadratic programming

Wing-assisted inclined running (WAIR) observed in some young birds, is an attractive maneuver that can be extended to legged aerial systems. This study proposes a control method…
[PAPER] Enhanced Capture Point Control Using Thruster Dynamics and QP-Based Optimization for Harpy
Paper · 2024

[PAPER] Enhanced Capture Point Control Using Thruster Dynamics and QP-Based Optimization for Harpy

Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These…
[PAPER] Heading Control for Obstacle Avoidance using Dynamic Posture Manipulation during Tumbling Locomotion
Paper · 2024

[PAPER] Heading Control for Obstacle Avoidance using Dynamic Posture Manipulation during Tumbling Locomotion

Passive tumbling structures are energy efficient, but often sacrifice control authority due to their under actuated nature. Unlike many passive tumbling robots, Northeastern…
[PAPER] Narrow-Path, Dynamic Walking Using Integrated Posture Manipulation and Thrust Vectoring
Paper · 2024

[PAPER] Narrow-Path, Dynamic Walking Using Integrated Posture Manipulation and Thrust Vectoring

This research concentrates on enhancing the navigational capabilities of Northeastern University’s Husky, a multi-modal quadrupedal robot, that can integrate posture manipulation…
[PAPER] Posture manipulation of thruster-enhanced bipedal robot performing dynamic wall-jumping using model predictive control
Paper · 2024

[PAPER] Posture manipulation of thruster-enhanced bipedal robot performing dynamic wall-jumping using model predictive control

Multi-modal mobility in robots can enable versatile, adaptable, and plastic locomotion in various environments. The additional mode of mobility can allow the robot to perform…
[PAPER] Quadratic Programming Optimization for Bio-Inspired Thruster-Assisted Bipedal Locomotion on Inclined Slopes
Paper · 2024

[PAPER] Quadratic Programming Optimization for Bio-Inspired Thruster-Assisted Bipedal Locomotion on Inclined Slopes

Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These…
[PAPER] Quadrupedal Locomotion Control On Inclined Surfaces Using Collocation Method
Paper · 2024

[PAPER] Quadrupedal Locomotion Control On Inclined Surfaces Using Collocation Method

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…
[PAPER] Thruster-Assisted Incline Walking
Paper · 2024

[PAPER] Thruster-Assisted Incline Walking

In this study, our aim is to evaluate the effectiveness of thruster-assisted steep slope walking for the Husky Carbon, a quadrupedal robot equipped with custom-designed actuators…
[PAPER] Validation of Tumbling Robot Dynamics with Posture Manipulation for Closed-Loop Heading Angle Control
Paper · 2024

[PAPER] Validation of Tumbling Robot Dynamics with Posture Manipulation for Closed-Loop Heading Angle Control

Navigating rugged terrain and steep slopes is a challenge for mobile robots. Conventional legged and wheeled systems struggle with these environments due to limited traction and…
[PAPER] Actuation and Flight Control of High-DOF Dynamic Morphing Wing Flight by Shifting Structure Response
Paper · 2023

[PAPER] Actuation and Flight Control of High-DOF Dynamic Morphing Wing Flight by Shifting Structure Response

Bat's dynamically morphing wings are highly versatile with many active and passive modes which allows them to display highly dexterous flight maneuvers. We take inspiration from…
[PAPER] Demonstrating Autonomous 3D Path Planning on a Novel Scalable UGV-UAV Morphing Robot
Paper · 2023

[PAPER] Demonstrating Autonomous 3D Path Planning on a Novel Scalable UGV-UAV Morphing Robot

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…
[PAPER] Hovering Control of Flapping Wings in Tandem with Multi-Rotors
Paper · 2023

[PAPER] Hovering Control of Flapping Wings in Tandem with Multi-Rotors

This work briefly covers our efforts to stabilize the flight dynamics of Northeatern's tailless bat-inspired micro aerial vehicle, Aerobat. Flapping robots are not new. A plethora…
[PAPER] A Letter on Progress Made on Husky Carbon: A Legged-Aerial, Multi-modal Platform
Paper · 2022

[PAPER] A Letter on Progress Made on Husky Carbon: A Legged-Aerial, Multi-modal Platform

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…
[PAPER] Bang-Bang Control Of A Tail-less Morphing Wing Flight
Paper · 2022

[PAPER] Bang-Bang Control Of A Tail-less Morphing Wing Flight

Bats' dynamic morphing wings are known to be extremely high-dimensional, and they employ the combination of inertial dynamics and aerodynamics manipulations to showcase extremely…