20 citations · 72 across the 18 of their papers we have counts for
21 papers
Toward Trustworthy Physical AI for Human Interaction
Niccolò Pagliarani, Maximilian Stölzle, Cosima du Pasquier +6
Robots are entering human spaces faster than we can establish when they deserve trust. We propose a framework for trustworthy physical AI that integrates Safety, Behavioral Intelli…
Design Optimization for Large High-Force Soft Robot Manipulators Under Gravitational Loads
Isara Cholaseuk, Penelope Llibre, Alexa Kyriacou +5
Designing large soft robots capable of generating high forces for physical human-robot interaction remains a significant challenge in soft robotics. Prior work in large soft robots…
Trajectory Generation for Underactuated Soft Robot Manipulators using Discrete Elastic Rod Dynamics
Beibei Liu, Akua K. Dickson, Ran Jing +1
Soft robots are well suited for contact-rich tasks due to their compliance, yet this property makes accurate and tractable modeling challenging. Planning motions with dynamically-f…
Force-Safe Environment Maps and Real-Time Detection for Soft Robot Manipulators
Akua K. Dickson, Juan C. Pacheco Garcia, Andrew P. Sabelhaus
Soft robot manipulators have the potential for deployment in delicate environments to perform complex manipulation tasks. However, existing obstacle detection and avoidance methods…
Koopman Control Factorization: Data-Driven Convex Controller Design for a Class of Nonlinear Systems
Taha Ondogan, Ran Jing, Andrew P. Sabelhaus +1
Although Koopman operators provide a global linearization for autonomous dynamical systems, nonautonomous systems are not globally linear in the inputs. State (or output) feedback…
Soft Robotic Delivery of Coiled Anchors for Cardiac Interventions
Leonardo Zamora Yanez, Jacob Rogatinsky, Dominic Recco +4
Trans-catheter cardiac intervention has become an increasingly available option for high-risk patients without the complications of open heart surgery. However, current catheterbas…
Safe Autonomous Environmental Contact for Soft Robots using Control Barrier Functions
Akua K. Dickson, Juan C. Pacheco Garcia, Meredith L. Anderson +6
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unint…
Real-Time Trajectory Generation for Soft Robot Manipulators Using Differential Flatness
Akua Dickson, Juan C. Pacheco Garcia, Ran Jing +2
Soft robots have the potential to interact with sensitive environments and perform complex tasks effectively. However, motion plans and trajectories for soft manipulators are chall…
Self-Sensing for Proprioception and Contact Detection in Soft Robots Using Shape Memory Alloy Artificial Muscles
Ran Jing, Meredith L. Anderson, Juan C. Pacheco Garcia +1
Estimating a soft robot's pose and applied forces, also called proprioception, is crucial for safe interaction of the robot with its environment. However, most solutions for soft r…
Maximizing Consistent Force Output for Shape Memory Alloy Artificial Muscles in Soft Robots
Meredith L. Anderson, Ran Jing, Juan C. Pacheco Garcia +4
Soft robots have immense potential given their inherent safety and adaptability, but challenges in soft actuator forces and design constraints have limited scaling up soft robots t…
DisMech: A Discrete Differential Geometry-based Physical Simulator for Soft Robots and Structures
Andrew Choi, Ran Jing, Andrew Sabelhaus +1
Fast, accurate, and generalizable simulations are a key enabler of modern advances in robot design and control. However, existing simulation frameworks in robotics either model rig…
Safe Balancing Control of a Soft Legged Robot
Ran Jing, Meredith L. Anderson, Miguel Ianus-Valdivia +3
Legged robots constructed from soft materials are commonly claimed to demonstrate safer, more robust environmental interactions than their rigid counterparts. However, this motivat…
Safe Supervisory Control of Soft Robot Actuators
Andrew P. Sabelhaus, Zach J. Patterson, Anthony T. Wertz +1
Although soft robots show safer interactions with their environment than traditional robots, soft mechanisms and actuators still have significant potential for damage or degradatio…
In-Situ Sensing and Dynamics Predictions for Electrothermally-Actuated Soft Robot Limbs
Andrew P. Sabelhaus, Rohan K. Mehta, Anthony T. Wertz +1
Untethered soft robots that locomote using electrothermally-responsive materials like shape memory alloy (SMA) face challenging design constraints for sensing actuator states. At t…
Robust Control of a Multi-Axis Shape Memory Alloy-Driven Soft Manipulator
Zach J. Patterson, Andrew P. Sabelhaus, Carmel Majidi
Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional m…
Trajectory Optimization for Thermally-Actuated Soft Planar Robot Limbs
Anthony Wertz, Andrew P. Sabelhaus, Carmel Majidi
Practical use of robotic manipulators made from soft materials requires generating and executing complex motions. We present the first approach for generating trajectories of a the…
An Untethered Brittle Star-Inspired Soft Robot for Closed-Loop Underwater Locomotion
Zach J. Patterson, Andrew P. Sabelhaus, Keene Chin +2
Soft robots are capable of inherently safer interactions with their environment than rigid robots since they can mechanically deform in response to unanticipated stimuli. However,…
Trajectory Tracking Control of a Flexible Spine Robot, With and Without a Reference Input
Andrew P. Sabelhaus, Shirley Huajing Zhao, Mallory C. Daly +6
The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to develop a flexible, actuated backbone for quadruped robots. In this w…
Inverse Statics Optimization for Compound Tensegrity Robots
Andrew P. Sabelhaus, Albert H. Li, Kimberly A. Sover +4
Robots built from cable-driven tensegrity (`tension-integrity') structures have many of the advantages of soft robots, such as flexibility and robustness, while still obeying simpl…
Model-Predictive Control with Inverse Statics Optimization for Tensegrity Spine Robots
Andrew P. Sabelhaus, Huajing Zhao, Edward L. Zhu +2
Robots with flexible spines based on tensegrity structures have potential advantages over traditional designs with rigid torsos. However, these robots can be difficult to control d…
Design, Simulation, and Testing of a Flexible Actuated Spine for Quadruped Robots
Andrew P. Sabelhaus, Lara Janse van Vuuren, Ankita Joshi +6
Walking quadruped robots face challenges in positioning their feet and lifting their legs during gait cycles over uneven terrain. The robot Laika is under development as a quadrupe…