Robert L. Baines — accepted AI-conference papers

2020

Rolling Soft Membrane-Driven Tensegrity Robots

Robert L. Baines, Joran W. Booth, Rebecca Kramer-Bottiglio

RA-L 2020

We present a methodology for designing, fabricating, and controlling rolling membrane-driven tensegrity robots. This methodology is enabled by pneumatic membrane actuators and a generalized path planning algorithm for rolling polyhedra. Membrane actuators are planar, assembled in a scalable fashion,

Cited by 40 Source ↗Scholar ↗

2019

Unstructured Terrain Navigation and Topographic Mapping with a Low-cost Mobile Cuboid Robot

Andrew S. Morgan, Robert L. Baines, Hayley McClintock, Brian Scassellati

IROS 2019poster

Current robotic terrain mapping techniques require expensive sensor suites to construct an environmental representation. In this work, we present a cube-shaped robot that can roll through unstructured terrain and construct a detailed topographic map of the surface that it traverses in real time with…

Cited by 1 Source ↗Scholar ↗