4 papers
Gait-Level Motion Design and Evaluation Framework for Grasp-Based Dynamic Locomotion in Microgravity
Chaerim Moon, Joohyung Kim, Justin K. Yim
Locomotion in microgravity often relies on sparsely and irregularly arranged anchors, motivating grasp-based mobility with multiple limbs. In this setting, dynamic traversal requir…
Steerable rolling of a 1-DoF robot using an internal pendulum
Christopher Y. Xu, Jack Yan, Kathleen Lum +1
We present ROCK (Rolling One-motor Controlled rocK), a 1 degree-of-freedom robot consisting of a round shell and an internal pendulum. An uneven shell surface enables steering by u…
Pinto: A latched spring actuated robot for jumping and perching
Christopher Y. Xu, Jack Yan, Justin K. Yim
Arboreal environments challenge current robots but are deftly traversed by many familiar animal locomotors such as squirrels. We present a small, 450 g robot "Pinto" developed for…
Cooperative Modular Manipulation with Numerous Cable-Driven Robots for Assistive Construction and Gap Crossing
Kevin Murphy, Joao C. V. Soares, Justin K. Yim +3
Soldiers in the field often need to cross negative obstacles, such as rivers or canyons, to reach goals or safety. Military gap crossing involves on-site temporary bridges construc…