1 citations · 1 across the 6 of their papers we have counts for
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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…
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…
Morphology-Aware Graph Reinforcement Learning for Tensegrity Robot Locomotion
Chi Zhang, Mingrui Li, Wenzhe Tong +1
Tensegrity robots combine rigid rods and elastic cables, offering high resilience and deployability but at the same time posing major challenges for locomotion control due to their…
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…
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…
Proprioceptive Invariant Robot State Estimation
Tzu-Yuan Lin, Tingjun Li, Wenzhe Tong +1
This paper reports on developing a real-time invariant proprioceptive robot state estimation framework called DRIFT. A didactic introduction to invariant Kalman filtering is provid…