2022
Construction and Excavation by Collaborative Double-Tailed SAW Robots
Luyang Robby Huang, Alexander Zhu, Kathleen Wang, Daniel I. Goldman, Andy Ruina, Kirstin H. Petersen
RA-L 2022
We describe a minimalistic robot mechanism that is capable of many construction behaviors in dry granular material including locomotion, climbing, leveling, subtraction, addition, transport, and burrowing. The design extends upon a single-actuator wave mechanism with the insight that the tails can b