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cs.RO2025
Leveraging Passive Compliance of Soft Robotics for Physical Human-Robot Collaborative Manipulation
Dallin L. Cordon, Shaden Moss, Marc Killpack +1
This work represents an initial benchmark of a large-scale soft robot performing physical, collaborative manipulation of a long, extended object with a human partner. The robot con…
cs.RO2025
PneuDrive: An Embedded Pressure Control System and Modeling Toolkit for Large-Scale Soft Robots
Curtis C. Johnson, Daniel G. Cheney, Dallin L. Cordon +1
In this paper, we present a modular pressure control system called PneuDrive that can be used for large-scale, pneumatically-actuated soft robots. The design is particularly suited…
cs.RO2024
A Decomposition of Interaction Force for Multi-Agent Co-Manipulation
Kody B. Shaw, Dallin L. Cordon, Marc D. Killpack +1
Multi-agent human-robot co-manipulation is a poorly understood process with many inputs that potentially affect agent behavior. This paper explores one such input known as interact…