3 papers
cs.RO2026
Scalable Open-Source Visuotactile Sensor for 6-Axis Contact Wrench Estimation in Tensegrity Robots
Wenzhe Tong, Jonathan Mi, Xili Yi +2
This paper presents a scalable, open-source visuotactile sensing system for tensegrity robots that enables six-axis wrench estimation and contact detection. The proposed endcap sen…
cs.RO2024
Tensegrity Robot Proprioceptive State Estimation with Geometric Constraints
Wenzhe Tong, Tzu-Yuan Lin, Jonathan Mi +3
Tensegrity robots, characterized by a synergistic assembly of rigid rods and elastic cables, form robust structures that are resistant to impacts. However, this design introduces c…
cs.RO2024
Design of a Variable Stiffness Quasi-Direct Drive Cable-Actuated Tensegrity Robot
Jonathan Mi, Wenzhe Tong, Yilin Ma +1
Tensegrity robots excel in tasks requiring extreme levels of deformability and robustness. However, there are challenges in state estimation and payload versatility due to their hi…