28 citations · 59 across the 8 of their papers we have counts for
9 papers
Neural reservoir control of a soft bio-hybrid arm
Noel Naughton, Arman Tekinalp, Keshav Shivam +3
A long-standing engineering problem, the control of soft robots is difficult because of their highly non-linear, heterogeneous, anisotropic, and distributed nature. Here, bridging…
Accelerated, physics-inspired inference of skeletal muscle microstructure from diffusion-weighted MRI
Noel Naughton, Stacey Cahoon, Brad Sutton +1
Muscle health is a critical component of overall health and quality of life. However, current measures of skeletal muscle health take limited account of microstructural variations…
Topology, dynamics, and control of an octopus-analog muscular hydrostat
Arman Tekinalp, Noel Naughton, Seung-Hyun Kim +5
Muscular hydrostats, such as octopus arms or elephant trunks, lack bones entirely, endowing them with exceptional dexterity and reconfigurability. Key to their unmatched ability to…
Hierarchical control and learning of a foraging CyberOctopus
Chia-Hsien Shih, Noel Naughton, Udit Halder +5
Inspired by the unique neurophysiology of the octopus, we propose a hierarchical framework that simplifies the coordination of multiple soft arms by decomposing control into high-l…
Energy Shaping Control of a Muscular Octopus Arm Moving in Three Dimensions
Heng-Sheng Chang, Udit Halder, Chia-Hsien Shih +3
Flexible octopus arms exhibit an exceptional ability to coordinate large numbers of degrees of freedom and perform complex manipulation tasks. As a consequence, these systems conti…
Friction modulation in limbless, three-dimensional gaits and heterogeneous terrains
Xiaotian Zhang, Noel Naughton, Tejaswin Parthasarathy +1
Motivated by a possible convergence of terrestrial limbless locomotion strategies ultimately determined by interfacial effects, we show how both 3D gait alterations and locomotory…
Controlling a CyberOctopus Soft Arm with Muscle-like Actuation
Heng-Sheng Chang, Udit Halder, Ekaterina Gribkova +4
This paper presents an application of the energy shaping methodology to control a flexible, elastic Cosserat rod model of a single octopus arm. The novel contributions of this work…
Elastica: A compliant mechanics environment for soft robotic control
Noel Naughton, Jiarui Sun, Arman Tekinalp +2
Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodol…
Lattice Boltzmann method for simulation of diffusion magnetic resonance imaging physics in multiphase tissue models
Noel M. Naughton, Caroline G. Tennyson, John G. Georgiadis
We report an implementation of the lattice Boltzmann method (LBM) to integrate the Bloch-Torrey equation, which describes the evolution of the transverse magnetization vector and t…