Lee-Huang Chen — accepted AI-conference papers

2017

Inclined surface locomotion strategies for spherical tensegrity robots

Lee-Huang Chen, Brian Cera, Edward L. Zhu, Riley Edmunds, Franklin Rice, Antonia Bronars +5

IROS 2017poster

This paper presents a new teleoperated spherical tensegrity robot capable of performing locomotion on steep inclined surfaces. With a novel control scheme centered around the simultaneous actuation of multiple cables, the robot demonstrates robust climbing on inclined surfaces in hardware experiment…

Cited by 47 Source ↗Scholar ↗

2016

Hopping and rolling locomotion with spherical tensegrity robots

Kyunam Kim, Lee-Huang Chen, Brian Cera, Mallory Daly, Edward Zhu, Julien Despois +3

IROS 2016poster

This work presents a 10 kg tensegrity ball probe that can quickly and precisely deliver a 1 kg payload over a 1 km distance on the Moon by combining cable-driven rolling and thruster-based hopping. Previous research has shown that cable-driven rolling is effective for precise positioning, even in ro…

Cited by 80 Source ↗Scholar ↗