5 papers
Scalable Open-Source Visuotactile Sensor for 6-Axis Contact Wrench Estimation in Tensegrity Robots
Wenzhe Tong, Jonathan Mi, Xili Yi +2
This paper presents a scalable, open-source visuotactile sensing system for tensegrity robots that enables six-axis wrench estimation and contact detection. The proposed endcap sen…
STEMbot: A Compliant Robot for Under-Canopy Plant Navigation
Zachary Charlick, Nilay Roy Choudhury, Haoyu Ma +2
The scalability of organic agriculture is partially limited by the labor costs associated with monitoring for pests. While drones and rovers are well-suited for agricultural monito…
When Search Becomes Memory: Turning Robot Design Trials into Transferable Skills
Yunfei Wang, Xiaohao Xu, Yang Li +1
Large language models (LLMs) are increasingly used as proposal generators for evolutionary robot design, yet most loops remain memoryless: simulator results shape the next populati…
Morphology-Aware Graph Reinforcement Learning for Tensegrity Robot Locomotion
Chi Zhang, Mingrui Li, Wenzhe Tong +1
Tensegrity robots combine rigid rods and elastic cables, offering high resilience and deployability but at the same time posing major challenges for locomotion control due to their…
Tensegrity Robot Proprioceptive State Estimation with Geometric Constraints
Wenzhe Tong, Tzu-Yuan Lin, Jonathan Mi +3
Tensegrity robots, characterized by a synergistic assembly of rigid rods and elastic cables, form robust structures that are resistant to impacts. However, this design introduces c…