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cs.RO2026
Simulating Robotic Locomotion in Sand: Resistive Force Theory in an Open-Source Physics Engine
Ryan Walker Brown, Laura K. Treers, Kathryn A. Daltorio
Recent advancements in Resistive Force Theory (RFT) enable approximation of ground reaction forces for locomotion in sand without the computational expense of modeling interactions…
cs.RO2025
Robot Excavation and Manipulation of Geometrically Cohesive Granular Media
Laura Treers, Daniel Soto, Joonha Hwang +2
Construction throughout history typically assumes that its blueprints and building blocks are pre-determined. However, recent work suggests that alternative approaches can enable n…