6 papers · 1 filter
Robot Excavation and Manipulation of Geometrically Cohesive Granular Media
Laura Treers, Daniel Soto, Joonha Hwang +2
Construction throughout history typically assumes that its blueprints and building blocks are pre-determined. However, recent work suggests that alternative approaches can enable n…
Robust control for multi-legged elongate robots in noisy environments
Baxi Chong, Juntao He, Daniel Irvine +8
Modern two and four legged robots exhibit impressive mobility on complex terrain, largely attributed to advancement in learning algorithms. However, these systems often rely on hig…
Collision Induced Binding and Transport of Shape Changing Robot Pairs
Akash Vardhan, Ram Avinery, Hosain Bagheri +7
We report in experiment and simulation the spontaneous formation of dynamically bound pairs of shape changing robots undergoing locally repulsive collisions. These physical `glider…
Steering Elongate Multi-legged Robots By Modulating Body Undulation Waves
Esteban Flores, Baxi Chong, Daniel Soto +1
Centipedes exhibit great maneuverability in diverse environments due to their many legs and body-driven control. By leveraging similar morphologies and control strategies, their ro…
Effective self-righting strategies for elongate multi-legged robots
Erik Teder, Baxi Chong, Juntao He +4
Centipede-like robots offer an effective and robust solution to navigation over complex terrain with minimal sensing. However, when climbing over obstacles, such multi-legged robot…
Addition of a peristaltic wave improves multi-legged locomotion performance on complex terrains
Massimiliano Iaschi, Baxi Chong, Tianyu Wang +5
Characterized by their elongate bodies and relatively simple legs, multi-legged robots have the potential to locomote through complex terrains for applications such as search-and-r…