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.RO2025
Impact-resistant, autonomous robots inspired by tensegrity architecture
William R. Johnson, Xiaonan Huang, Shiyang Lu +4
Future robots will navigate perilous, remote environments with resilience and autonomy. Researchers have proposed building robots with compliant bodies to enhance robustness, but t…