3 papers
cs.RO2020
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…
cs.RO2019
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…
cs.RO2019
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…