36 citations · 47 across the 4 of their papers we have counts for
6 papers
Trajectory Tracking Control of a Flexible Spine Robot, With and Without a Reference Input
Andrew P. Sabelhaus, Shirley Huajing Zhao, Mallory C. Daly +6
The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to develop a flexible, actuated backbone for quadruped robots. In this w…
Scalable Co-Optimization of Morphology and Control in Embodied Machines
Nick Cheney, Josh Bongard, Vytas SunSpiral +1
Evolution sculpts both the body plans and nervous systems of agents together over time. In contrast, in AI and robotics, a robot's body plan is usually designed by hand, and contro…
Deep Reinforcement Learning for Tensegrity Robot Locomotion
Marvin Zhang, Xinyang Geng, Jonathan Bruce +5
Tensegrity robots, composed of rigid rods connected by elastic cables, have a number of unique properties that make them appealing for use as planetary exploration rovers. However,…
A Bio-Inspired Tensegrity Manipulator with Multi-DOF, Structurally Compliant Joints
Steven Lessard, Dennis Castro, William Asper +5
Most traditional robotic mechanisms feature inelastic joints that are unable to robustly handle large deformations and off-axis moments. As a result, the applied loads are transfer…
A light-weight, multi-axis compliant tensegrity joint
Steven Lessard, Jonathan Bruce, Erik Jung +3
In this paper, we present a light-weight, multi- axis compliant tenegrity joint that is biologically inspired by the human elbow. This tensegrity elbow actuates by shortening and l…
State Estimation for Tensegrity Robots
Ken Caluwaerts, Jonathan Bruce, Jeffrey M. Friesen +1
Tensegrity robots are a class of compliant robots that have many desirable traits when designing mass efficient systems that must interact with uncertain environments. Various prom…