3 papers
cs.RO2026
Tensegrity Robot Endcap-Ground Contact Estimation with Symmetry-aware Heterogeneous Graph Neural Network
Wenzhe Tong, Yicheng Jiang, Chi Zhang +2
Tensegrity robots possess lightweight and resilient structures but present significant challenges for state estimation due to compliant and distributed ground contacts. This paper…
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…