AIConfPaper
← Search

Dhruv Datta

2 accepted papers

2026

Empirical Contact Models for Soft Spherical Robots in Drake

Micah Oevermann, Dhruv Datta, Dylan Hilburn, Derek Pravecek, Rishi Jangale, Aaron Villanueva +1
ICRA 2026poster

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 0Source ↗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 1Source ↗Scholar ↗