Derek J. Pravecek — accepted AI-conference papers

2025

Design of Soft Outer Shells for Control of Large Spherical Robots

Rishi Jangale, Derek J. Pravecek, Aaron Villanueva, Jonas A. M. Land, Robert O. Ambrose

RA-L 2025

While soft-shelled spherical robots offer promising mobility and robustness for planetary exploration, large-scale, mission-capable robots present several design challenges. This paper presents the design, manufacturing, and performance evaluation of multiple soft outer shell iterations for RoboBall

Cited by 0 Source ↗Scholar ↗

2025

Empirical Contact Models for Soft Spherical Robots in Drake

Micah J. Oevermann, Dhruv Datta, Dylan Hilburn, Derek J. Pravecek, Rishi Jangale, Aaron Villanueva +1

RA-L 2025

Accurate dynamic modeling of soft-shelled spherical robots is challenging due to coupled rigid–soft body interactions and pressure-dependent contact behavior. This letter presents a modeling strategy for an empirically tuned pendulum-driven inflatable spherical robot. The approach combines a rigid-b

Cited by 1 Source ↗Scholar ↗