3 papers
cs.RO2026
CableRobotGraphSim: A Graph Neural Network for Modeling Partially Observable Cable-Driven Robot Dynamics
Nelson Chen, William R. Johnson, Rebecca Kramer-Bottiglio +2
General-purpose simulators have accelerated the development of robots. Traditional simulators based on first-principles, however, typically require full-state observability or depe…
cs.RO2025
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…
cs.RO2024
Learning Differentiable Tensegrity Dynamics using Graph Neural Networks
Nelson Chen, Kun Wang, William R. Johnson +3
Tensegrity robots are composed of rigid struts and flexible cables. They constitute an emerging class of hybrid rigid-soft robotic systems and are promising systems for a wide arra…