Adaptive tensegrity locomotion: Controlling a compliant icosahedron with symmetry-reduced reinforcement learning
Tensegrity robots, which are prototypical examples of hybrid soft–rigid robots, exhibit
dynamical properties that provide ruggedness and adaptability. They also bring about …
dynamical properties that provide ruggedness and adaptability. They also bring about …
Kinodynamic planning for spherical tensegrity locomotion with effective gait primitives
Tensegrity-based robots can achieve locomotion through shape deformation and
compliance. They are highly adaptable to their surroundings, and are lightweight, low cost …
compliance. They are highly adaptable to their surroundings, and are lightweight, low cost …
Any-axis tensegrity rolling via symmetry-reduced reinforcement learning
Tensegrity rovers incorporate design principles that give rise to many desirable properties,
such as adaptability and robustness, while also creating challenges in terms of locomotion …
such as adaptability and robustness, while also creating challenges in terms of locomotion …
Any-axis tensegrity rolling via bootstrapped learning and symmetry reduction
Tensegrity rovers incorporate design principles that give rise to many desirable properties,
such as adaptability and robustness, while also creating challenges in terms of locomotion …
such as adaptability and robustness, while also creating challenges in terms of locomotion …
Discovering a library of rhythmic gaits for spherical tensegrity locomotion
C Rennie, KE Bekris - 2018 IEEE International Conference on …, 2018 - ieeexplore.ieee.org
Tensegrity robots, which combine both rigid and soft elements, provide exciting new
locomotion capabilities but introduce significant control challenges given their high …
locomotion capabilities but introduce significant control challenges given their high …
Adaptive tensegrity locomotion on rough terrain via reinforcement learning
The dynamical properties of tensegrity robots give them appealing ruggedness and
adaptability, but present major challenges with respect to locomotion control. Due to high …
adaptability, but present major challenges with respect to locomotion control. Due to high …
Closing the Reality Gap for Controlling Tensegrity Robots via Differentiable Physics Engines
K Wang - 2022 - search.proquest.com
Tensegrity robots, a kind of soft robots that are composed of rigid rods and flexible cables,
are difficult to accurately model and control given the presence of complex dynamics and …
are difficult to accurately model and control given the presence of complex dynamics and …
[图书][B] Efficient and asymptotically optimal kinodynamic motion planning
Z Littlefield - 2020 - search.proquest.com
This dissertation explores properties of motion planners that build tree data structures in a
robot's state space. Sampling-based tree planners are especially useful for planning for …
robot's state space. Sampling-based tree planners are especially useful for planning for …
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M Cana - 2010 - academia.edu
Dissertation Director: Dr. Marija Dalbello This qualitative study provides an understanding of
the role of self-archived disciplinary open access repositories in the cultural configuration of …
the role of self-archived disciplinary open access repositories in the cultural configuration of …