3 papers
cs.RO2025
Spring-Brake! Handed Shearing Auxetics Improve Efficiency of Hopping and Standing
Joseph Sullivan, Ian Good, Samuel A. Burden +1
Energy efficiency is critical to the success of legged robotics. Efficiency is lost through wasted energy during locomotion and standing. Including elastic elements has been shown…
cs.RO2025
Torque Responsive Metamaterials Enable High Payload Soft Robot Arms
Ian Good, Srivatsan Balaji, David Oh +2
Soft robots have struggled to support large forces and moments while also supporting their own weight against gravity. This limits their ability to reach certain configurations nec…
cs.RO2024
Torsion Resistant Strain Limiting Layers Enable High Grip Strength of Electrically-Driven Handed Shearing Auxetic Grippers
Ian Good, Srivatsan Balaji, Jeffrey I. Lipton
Soft grippers have demonstrated a strong ability to successfully pick and manipulate many objects. A key limitation to their wider adoption is their inability to grasp larger paylo…