Alexander H. Chang

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Cable robotics is an emerging research field in robotics which has the potential to be applied to a variety of practical purposes and tasks. Applications dealing with short distance transportation of hazardous materials as well as the handling of and interaction around these materials are several of the major tasks that can be handled efficiently and safely(More)
The scales on the skin of a snake are an integral part of the snake's locomotive capabilities. It stands to reason that the integration of scales into the design of robotic snakes would open new properties to exploit. In this work, we present a robotic snake design that incorporates rigid scales in the casing of each module. To validate the impact of the(More)
High-level, closed-loop traversal through obstacle-strewn environments remains an open and challenging endeavor for snake-like robotic platforms. Rectilinear forms of locomotion, despite their unique mobility advantages compared to other gait shapes, have seen relatively little progress toward this objective. A dynamical exposition of traveling wave(More)
The varied and complex dynamics of deformable terrain are significant impediments toward real-world viability of locomotive robotics, particularly for legged machines. We explore vertical jumping on granular media (GM) as a model task for legged locomotion on uncharacterized deformable terrain. By integrating (Gaussian process) GP-based regression and(More)
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