5 papers · 1 filter
Model Predictive Control of Tensegrity Robots via Contact-Aware Graph Neural Dynamics Model
Nelson Chen, Patrick Meng, Charles Tang +5
Tensegrity robots offer lightweight, compliant mobility over challenging terrain but remain difficult to model and control due to complex contact-rich dynamics and partial observab…
State and Trajectory Estimation of Tensegrity Robots via Factor Graphs and Chebyshev Polynomials
Edgar Granados, Patrick Meng, Charles Tang +4
Tensegrity robots offer compliance and adaptability, but their nonlinear, and underconstrained dynamics make state estimation challenging. Reliable continuous-time estimation of al…
An Open-Source, Reproducible Tensegrity Robot that can Navigate Among Obstacles
William R. Johnson, Patrick Meng, Nelson Chen +5
Tensegrity robots, composed of rigid struts and elastic tendons, provide impact resistance, low mass, and adaptability to unstructured terrain. Their compliance and complex, couple…
The State of Robot Motion Generation
Kostas E. Bekris, Joe Doerr, Patrick Meng +1
This paper reviews the large spectrum of methods for generating robot motion proposed over the 50 years of robotics research culminating in recent developments. It crosses the boun…
Tactile-based Object Retrieval From Granular Media
Jingxi Xu, Yinsen Jia, Dongxiao Yang +5
We introduce GEOTACT, the first robotic system capable of grasping and retrieving objects of potentially unknown shapes buried in a granular environment. While important in many ap…