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cs.RO2025
Terradynamics and design of tip-extending robotic anchors
Deniz Kerimoglu, Nicholas D. Naclerio, Sean Chu +5
Most engineered pilings require substantially more force to be driven into the ground than they can resist during extraction. This requires relatively heavy equipment for insertion…
cs.RO2024
DisCo: Distributed Contact-Rich Trajectory Optimization for Forceful Multi-Robot Collaboration
Ola Shorinwa, Matthew Devlin, Elliot W. Hawkes +1
We present DisCo, a distributed algorithm for contact-rich, multi-robot tasks. DisCo is a distributed contact-implicit trajectory optimization algorithm, which allows a group of ro…
cs.RO2024
Development and Testing of a Vine Robot for Urban Search and Rescue in Confined Rubble Environments
Zheyu Zhou, Yaqing Wang, Elliot W. Hawkes +1
The request for fast response and safe operation after natural and man-made disasters in urban environments has spurred the development of robotic systems designed to assist in sea…