Author

Yi-Cong Lin

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Preprint Sep 2026

MuJoCable: Reduced-Order Surface-Routed Cable Transmission for Tendon-Driven Robots

Tendon transmissions reduce distal inertia and add compliance, yet routing, slack, and friction govern motion and force transfer. Mainstream rigid-body robotics simulators such as MuJoCo do not jointly resolve moving noncircular contact, unilateral tension, and segment friction. We present MuJoCable, which adds a reduc...

Yi Zhang, Qi-Bing Shao, Yi-Cong Lin et al. · 0 citations

Preprint Sep 2026

GeoTrussRover: Morphological Computation with Contact-Semantic Control Primitives

Reconfigurable robots can change their contact geometry when a fixed body cannot negotiate an obstacle. A variable-geometry truss (VGT) distributes this shape change through a load-bearing structure, but coupling it to a mobile base creates a high-dimensional coordination problem. GeoTrussRover combines an electrically...

Mu-Yuan Ma, Yi Zhang, Yang Yang et al. · 0 citations