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cs.RO2025
Developing a Mono-Actuated Compliant GeoGami Robot
Archie Webster, Lee Skull, Seyed Amir Tafrishi
This paper presents the design of a new soft-rigid robotic platform, "GeoGami". We leverage origami surface capabilities to achieve shape contraction and to support locomotion with…
cs.RO2025
A Survey on Path Planning Problem of Rolling Contacts: Approaches, Applications and Future Challenges
Seyed Amir Tafrishi, Mikhail Svinin, Kenji Tahara
This paper explores an eclectic range of path-planning methodologies engineered for rolling surfaces. Our focus is on the kinematic intricacies of rolling contact systems, which ar…