18 citations · 18 across the 7 of their papers we have counts for
9 papers
Proximity and Visuotactile Point Cloud Fusion for Contact Patches in Extreme Deformation
Jessica Yin, Paarth Shah, Naveen Kuppuswamy +5
Visuotactile sensors are a popular tactile sensing strategy due to high-fidelity estimates of local object geometry. However, existing algorithms for processing raw sensor inputs t…
SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use
H. J. Terry Suh, Naveen Kuppuswamy, Tao Pang +3
We propose the framework of Series Elastic End Effectors in 6D (SEED), which combines a spatially compliant element with visuotactile sensing to grasp and manipulate tools in the w…
Punyo-1: Soft tactile-sensing upper-body robot for large object manipulation and physical human interaction
Aimee Goncalves, Naveen Kuppuswamy, Andrew Beaulieu +3
The manipulation of large objects and safe operation in the vicinity of humans are key capabilities of a general purpose domestic robotic assistant. We present the design of a soft…
Variable compliance and geometry regulation of Soft-Bubble grippers with active pressure control
Sihah Joonhigh, Naveen Kuppuswamy, Andrew Beaulieu +2
While compliant grippers have become increasingly commonplace in robot manipulation, finding the right stiffness and geometry for grasping the widest variety of objects remains a k…
Monocular Depth Estimation for Soft Visuotactile Sensors
Rares Ambrus, Vitor Guizilini, Naveen Kuppuswamy +3
Fluid-filled soft visuotactile sensors such as the Soft-bubbles alleviate key challenges for robust manipulation, as they enable reliable grasps along with the ability to obtain hi…
Soft-Bubble grippers for robust and perceptive manipulation
Naveen Kuppuswamy, Alex Alspach, Avinash Uttamchandani +3
Manipulation in cluttered environments like homes requires stable grasps, precise placement and robustness against external contact. We present the Soft-Bubble gripper system with…
A Transition-Aware Method for the Simulation of Compliant Contact with Regularized Friction
Alejandro M. Castro, Ante Qu, Naveen Kuppuswamy +2
Multibody simulation with frictional contact has been a challenging subject of research for the past thirty years. Rigid-body assumptions are commonly used to approximate the physi…
Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation
Alex Alspach, Kunimatsu Hashimoto, Naveen Kuppuswamy +1
Incorporating effective tactile sensing and mechanical compliance is key towards enabling robust and safe operation of robots in unknown, uncertain and cluttered environments. Towa…
Magneto-mechanical actuation model for fin-based locomotion
Juan Pablo Carbajal, Naveen Kuppuswamy
In this paper, we report the results from the analysis of a numerical model used for the design of a magnetic linear actuator with applications to fin-based locomotion. Most of the…