28 citations · 51 across the 8 of their papers we have counts for
10 papers · 1 filter
When Rolling Gets Weird: A Curved-Link Tensegrity Robot for Non-Intuitive Behavior
Lauren Ervin, Harish Bezawada, Vishesh Vikas
Conventional mobile tensegrity robots constructed with straight links offer mobility at the cost of locomotion speed. While spherical robots provide highly effective rolling behavi…
Improving Grip Stability Using Passive Compliant Microspine Arrays for Soft Robots in Unstructured Terrain
Lauren Ervin, Harish Bezawada, Vishesh Vikas
Microspine grippers are small spines commonly found on insect legs that reinforce surface interaction by engaging with asperities to increase shear force and traction. An array of…
Geometric Static Modeling Framework for Piecewise-Continuous Curved-Link Multi Point-of-Contact Tensegrity Robots
Lauren Ervin, Vishesh Vikas
Tensegrities synergistically combine tensile (cable) and rigid (link) elements to achieve structural integrity, making them lightweight, packable, and impact resistant. Consequentl…
Environment-Centric Learning Approach for Gait Synthesis in Terrestrial Soft Robots
Caitlin Freeman, Arun Niddish Mahendran, Vishesh Vikas
Locomotion gaits are fundamental for control of soft terrestrial robots. However, synthesis of these gaits is challenging due to modeling of robot-environment interaction and lack…
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…
Topology and morphology design of spherically reconfigurable homogeneous Modular Soft Robots (MSoRos)
Caitlin Freeman, Michael Maynard, Vishesh Vikas
Imagine a swarm of terrestrial robots that can explore an environment, and, upon completion of this task, reconfigure into a spherical ball and roll out. This dimensional change al…
Angular Velocity Estimation using Non-coplanar Accelerometer Array
Michael Maynard, Vishesh Vikas
Over the last few decades, Gyro-Free IMUs have been extensively researched to overcome the limitations of gyroscopes. This research presents a Non-coplanar Accelerometer Array (NAA…
Design and control of a soft, shape-changing, crawling robot
Vishesh Vikas, Paul Templeton, Barry Trimmer
Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase…
Model-free control framework for multi-limb soft robots
Vishesh Vikas, Piyush Grover, Barry Trimmer
The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challe…
Design and locomotion control of soft robot using friction manipulation and motor-tendon actuation
Vishesh Vikas, Eliad Cohen, Rob Grassi +2
Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operatin…