52 citations · 111 across the 9 of their papers we have counts for
11 papers
Multi-Modal Non-Prehensile Estimation of Physical Parameters via Press-and-Pull Tipping
Steven M. Hyland, Jing Xiao, Cagdas D. Onal
Recovering physical properties of unknown objects through non-prehensile interaction is challenging because no single manipulation primitive reveals all relevant parameters. Planar…
Before the Tipping Point: Force-Guided Active Perception for Shape-Agnostic Estimation of 3D Centers of Mass
Steven M. Hyland, Jing Xiao, Cagdas D. Onal
Estimating the 3D center of mass of unknown objects is challenging when grasping is infeasible, geometry is irregular, or mass distribution is uneven. We present a force-based meth…
3D Shape Control of Extensible Multi-Section Soft Continuum Robots via Visual Servoing
Abhinav Gandhi, Shou-Shan Chiang, Cagdas D. Onal +1
In this paper, we propose a novel vision-based control algorithm for regulating the whole body shape of extensible multisection soft continuum manipulators. Contrary to existing vi…
Integrating Contact-aware Feedback CPG System for Learning-based Soft Snake Robot Locomotion Controllers
Xuan Liu, Cagdas D. Onal, Jie Fu
This paper aims to solve the contact-aware locomotion problem of a soft snake robot by developing bio-inspired contact-aware locomotion controllers. To provide effective contact in…
Reinforcement Learning of CPG-regulated Locomotion Controller for a Soft Snake Robot
Xuan Liu, Cagdas Onal, Jie Fu
Intelligent control of soft robots is challenging due to the nonlinear and difficult-to-model dynamics. One promising model-free approach for soft robot control is reinforcement le…
Air-Releasable Soft Robots for Explosive Ordnance Disposal
Tyler C. Looney, Nathan M. Savard, Gus T. Teran +8
The demining of landmines using drones is challenging; air-releasable payloads are typically non-intelligent (e.g., water balloons or explosives) and deploying them at even low alt…