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cs.RO2023
Multi-gait Locomotion Planning and Tracking for Tendon-actuated Terrestrial Soft Robot (TerreSoRo)
Arun Niddish Mahendran, Caitlin Freeman, Alexander H. Chang +3
The adaptability of soft robots makes them ideal candidates to maneuver through unstructured environments. However, locomotion challenges arise due to complexities in modeling the…
cs.RO2022
In-Place Rotation for Enhancing Snake-like Robot Mobility
Alexander H. Chang, Patricio A. Vela
Gaits engineered for snake-like robots to rotate in-place instrumentally fill a gap in the set of locomotive gaits that have traditionally prioritized translation. This paper desig…
cs.RO2019
Autonomous, Monocular, Vision-Based Snake Robot Navigation and Traversal of Cluttered Environments using Rectilinear Gait Motion
Alexander H. Chang, Shiyu Feng, Yipu Zhao +2
Rectilinear forms of snake-like robotic locomotion are anticipated to be an advantage in obstacle-strewn scenarios characterizing urban disaster zones, subterranean collapses, and…