arxivcs.RO2026-07-22
Morphing MILR: Design and control of a cable-driven limbless robot with rolling joints for maneuvering in complex environments
Donoven Dortilus, Tianyu Wang, Galen Tunnicliffe, Matthew Fernandez, Daniel I. Goldman
Limbless robots offer exceptional mobility in confined and cluttered environments due to their slender bodies and their ability to exploit body-terrain interactions. Recent designs incorporating compliance demonstrate robust locomotion without complex sensing or control; however,…