20 citations · 33 across the 10 of their papers we have counts for
3 papers · 1 filter
Trajectory Tracking Control of a Flexible Spine Robot, With and Without a Reference Input
Andrew P. Sabelhaus, Shirley Huajing Zhao, Mallory C. Daly +6
The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to develop a flexible, actuated backbone for quadruped robots. In this w…
Inverse Statics Optimization for Compound Tensegrity Robots
Andrew P. Sabelhaus, Albert H. Li, Kimberly A. Sover +4
Robots built from cable-driven tensegrity (`tension-integrity') structures have many of the advantages of soft robots, such as flexibility and robustness, while still obeying simpl…
Model-Predictive Control with Inverse Statics Optimization for Tensegrity Spine Robots
Andrew P. Sabelhaus, Huajing Zhao, Edward L. Zhu +2
Robots with flexible spines based on tensegrity structures have potential advantages over traditional designs with rigid torsos. However, these robots can be difficult to control d…