3 papers
cs.RO2026
Robots That Generate Planarity Through Geometry
Jakub F. Kowalewski, Abdulaziz O. Alrashed, Jacob Alpert +3
Constraining motion to a flat surface is a fundamental requirement for equipment across science and engineering. Modern precision robotic motion systems, such as gantries, rely on…
cs.RO2025
SCCRUB: Surface Cleaning Compliant Robot Utilizing Bristles
Jakub F. Kowalewski, Keeyon Hajjafar, Alyssa Ugent +1
Scrubbing surfaces is a physically demanding and time-intensive task. Removing adhered contamination requires substantial friction generated through pressure and torque or high lat…
cs.RO2024
Bridging Hard and Soft: Mechanical Metamaterials Enable Rigid Torque Transmission in Soft Robots
Molly Carton, Jakub F. Kowalewski, Jiani Guo +4
Torque and continuous rotation are fundamental methods of actuation and manipulation in rigid robots. Soft robot arms use soft materials and structures to mimic the passive complia…