54 citations · 91 across the 17 of their papers we have counts for
19 papers
Continuous and large-scale: ELEANOR, the soft architected arm inspired by the elephant trunk
Giovanna A. Naselli, Anderson B. Nardin, Seonggun Joe +6
The elephant trunk is a dexterous and versatile manipulator whose performance is still unmatched in robotics. In previous works, modularity was prioritized and relatively small-sca…
A Continual Learning Framework for Adaptive Control of Modular Soft Robots
Nilay Kushawaha, Muhammad Sunny Nazeer, Baljinder Singh Bal +2
Soft robots have attracted significant attention in applications such as medical intervention, rehabilitation, and robotic manipulation due to their inherent compliance, flexibilit…
Soft Swing-up: Benchmarking Model-Based Optimal Control for Rigid-Soft Underactuated Systems
Daniele Caradonna, Nikhil Nair, Anup Teejo Mathew +5
Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynamic control particularly challenging, especially in hybrid rigid-soft robo…
Zero-shot Whole-Body Manipulation with a Large-Scale Soft Robotic Torso via Guided Reinforcement Learning
Curtis C. Johnson, Carlo Alessi, Egidio Falotico +1
Whole-body manipulation is a powerful yet underexplored approach that enables robots to interact with large, heavy, or awkward objects using more than just their end-effectors. Sof…
The Role of Touch: Towards Optimal Tactile Sensing Distribution in Anthropomorphic Hands for Dexterous In-Hand Manipulation
João Damião Almeida, Egidio Falotico, Cecilia Laschi +1
In-hand manipulation tasks, particularly in human-inspired robotic systems, must rely on distributed tactile sensing to achieve precise control across a wide variety of tasks. Howe…
Domain Translation of a Soft Robotic Arm using Conditional Cycle Generative Adversarial Network
Nilay Kushawaha, Carlo Alessi, Lorenzo Fruzzetti +1
Deep learning provides a powerful method for modeling the dynamics of soft robots, offering advantages over traditional analytical approaches that require precise knowledge of the…