4 papers
POE: Acoustic Soft Robotic Proprioception for Omnidirectional End-effectors
Uksang Yoo, Ziven Lopez, Jeffrey Ichnowski +1
Soft robotic shape estimation and proprioception are challenging because of soft robot's complex deformation behaviors and infinite degrees of freedom. A soft robot's continuously…
Autonomously Untangling Long Cables
Vainavi Viswanath, Kaushik Shivakumar, Justin Kerr +7
Cables are ubiquitous in many settings and it is often useful to untangle them. However, cables are prone to self-occlusions and knots, making them difficult to perceive and manipu…
Mechanical Search on Shelves with Efficient Stacking and Destacking of Objects
Huang Huang, Letian Fu, Michael Danielczuk +6
Stacking increases storage efficiency in shelves, but the lack of visibility and accessibility makes the mechanical search problem of revealing and extracting target objects diffic…
Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles
Albert Wilcox, Justin Kerr, Brijen Thananjeyan +5
Robotic Surgical Assistants (RSAs) are commonly used to perform minimally invasive surgeries by expert surgeons. However, long procedures filled with tedious and repetitive tasks s…