3 accepted papers
Isoperimetric robots can dramatically change shape to adapt to different tasks. They are built from triangle modules, each formed by a continuous structural member that passes through three roller units, one at each corner. The robot changes shape as the roller units drive along the structural membe…
Isoperimetric robots are large scale, untethered inflatable robots that can undergo large shape changes, but have only been demonstrated in one 3D shape- an octahedron. These robots consist of independent triangles that can change shape while maintaining their perimeter by moving the relative positi…
We consider a class of robotic systems composed of high elongation linear actuators connected at universal joints. We derive the differential kinematics of such robots, and formalize concepts of controllability based on graph rigidity. Control methods are then developed for two separate applications…