2020
Inverse Statics Optimization for Compound Tensegrity Robots
Andrew P. Sabelhaus, Albert H. Li, Kimberly A. Sover, Jacob R. Madden, Andrew R. Barkan, Adrian K. Agogino +1
RA-L 2020
Robots built from cable-driven tensegrity (`tension-integrity') structures have many of the advantages of soft robots, such as flexibility and robustness, yet still obey simple statics and dynamics models. However, existing approaches cannot natively model tensegrity robots with arbitrary rigid bodi