4 papers
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…
TALE-teller: Tendon-Actuated Linked Element Robotic Testbed for Investigating Tail Functions
Margaret J. Zhang, Anvay A. Pradhan, Zachary Brei +6
Tails serve various functions in both robotics and biology, including expression, grasping, and defense. The vertebrate tails associated with these functions exhibit diverse patter…
Differentiable Discrete Elastic Rods for Real-Time Modeling of Deformable Linear Objects
Yizhou Chen, Yiting Zhang, Zachary Brei +4
This paper addresses the task of modeling Deformable Linear Objects (DLOs), such as ropes and cables, during dynamic motion over long time horizons. This task presents significant…
Serving Time: Real-Time, Safe Motion Planning and Control for Manipulation of Unsecured Objects
Zachary Brei, Jonathan Michaux, Bohao Zhang +2
A key challenge to ensuring the rapid transition of robotic systems from the industrial sector to more ubiquitous applications is the development of algorithms that can guarantee s…