77 citations · 120 across the 6 of their papers we have counts for
6 papers
Fault-Tolerant, Rigidity-Preserving Control of Inflatable Truss Robots
James Wade, Isaac Weaver, Mihai Stanciu +1
Isoperimetric robotic trusses can adapt to different tasks and environments due to their high strength-to-weight ratio and the ability to reconfigure dramatically into new shapes.…
Modular Isoperimetric Soft Robotic Truss for Lunar Applications
Mihai Stanciu, Isaac Weaver, Adam Rose +5
We introduce a large-scale robotic system designed as a lightweight, modular, and reconfigurable structure for lunar applications. The system consists of truss-like robotic triangl…
Triangle-Decomposable Graphs for Isoperimetric Robots
Nathan Usevitch, Isaac Weaver, James Usevitch
Isoperimetric robots are large scale, untethered inflatable robots that can undergo large shape changes, but have only been demonstrated in one 3D shape -- an octahedron. These rob…
Distributed Control of Truss Robots Using Consensus Alternating Direction Method of Multipliers
Nathan S. Usevitch, Trevor Halsted, Zachary M. Hammond +2
Truss robots, or robots that consist of extensible links connected at universal joints, are often designed with modular physical components but require centralized control techniqu…
Geometric Solutions for General Actuator Routing on Inflated-Beam Soft Growing Robots
Laura H Blumenschein, Margaret Koehler, Nathan S. Usevitch +3
Continuum and soft robots can leverage complex actuator shapes to take on useful shapes while actuating only a few of their many degrees of freedom. Continuum robots that also grow…
Retraction of Soft Growing Robots without Buckling
Margaret M. Coad, Rachel P. Thomasson, Laura H. Blumenschein +3
Tip-extending soft robots that "grow" via pneumatic eversion of their body material have demonstrated applications in exploration of cluttered environments. During growth, the moti…