Deaho Moon

About

Deaho Moon is a robotics researcher whose work sits at the intersection of soft robotics, reconfigurable systems, and bio-inspired locomotion. His most influential contributions center on **tensegrity robots**—lightweight, deformable structures that balance tension and compression elements to achieve remarkable robustness and adaptability. Moon’s 2014 paper on rapid prototyping and control of tensegrity soft robots (71 citations) laid the groundwork for co-robots capable of navigating human environments, while his 2015 work on robust learning through form-finding (49 citations) advanced control strategies for ball-shaped tensegrity robots, enabling punctuated rolling and obstacle climbing. Beyond tensegrity, Moon developed **ModMan**, an advanced reconfigurable manipulator system featuring a genderless connector and automatic kinematic modeling (46 citations), addressing the need for high-adaptability in manufacturing. His design of the **T12-R spherical tensegrity robot** (19 citations) demonstrated fast rolling dynamics, and his recent work on legged anchoring using RFT-based granular limit surfaces (2023) extends forceful ground robot capabilities to burrowing and tugging. With over 190 total citations, Moon’s research is shaping the next generation of resilient, adaptable robots for unstructured environments.

Research Focus

Key Achievements

Top Papers

1. 1
   Rapid prototyping design and control of tensegrity soft robot for locomotion

   71 citations · 2014
2. 2
   Robust learning of tensegrity robot control for locomotion through form-finding

   49 citations · 2015
3. 3
   ModMan: An Advanced Reconfigurable Manipulator System With Genderless Connector and Automatic Kinematic Modeling Algorithm

   46 citations · 2020
4. 4
   Design of a spherical tensegrity robot for dynamic locomotion

   19 citations · 2017
5. 5
   Walk-Burrow-Tug: Legged Anchoring Analysis Using RFT-Based Granular Limit Surfaces

   8 citations · 2023

Key Collaborators

Contact & Links