25 citations · 28 across the 6 of their papers we have counts for
6 papers
Observability-Informed Optimal Sensor Placement for Soft Robots
Samuel Smocot, James Richard Forbes, Audrey Sedal
This paper presents the application and experimental evaluation of a systematic method for optimal sensor placement in soft robots. Existing methods either lack generalizability ac…
Acoustic tactile sensing for mobile robot wheels
Wilfred Mason, David Brenken, Falcon Z. Dai +3
Tactile sensing in mobile robots remains under-explored, mainly due to challenges related to sensor integration and the complexities of distributed sensing. In this work, we presen…
Lagrangian Properties and Control of Soft Robots Modeled with Discrete Cosserat Rods
Lekan Molu, Shaoru Chen, Audrey Sedal
The characteristic ``in-plane" bending associated with soft robots' deformation make them preferred over rigid robots in sophisticated manipulation and movement tasks. Executing su…
Soft Robots Learn to Crawl: Jointly Optimizing Design and Control with Sim-to-Real Transfer
Charles Schaff, Audrey Sedal, Matthew R. Walter
This work provides a complete framework for the simulation, co-optimization, and sim-to-real transfer of the design and control of soft legged robots. The compliance of soft robots…
Comparison and Experimental Validation of Predictive Models for Soft, Fiber-Reinforced Actuators
Audrey Sedal, Alan Wineman, R Brent Gillespie +1
Successful soft robot modeling approaches appearing in recent literature have been based on a variety of distinct theories, including traditional robotic theory, continuum mechanic…
Force Generation by Parallel Combinations of Fiber-Reinforced Fluid-Driven Actuators
Daniel Bruder, Audrey Sedal, Ram Vasudevan +1
The compliant structure of soft robotic systems enables a variety of novel capabilities in comparison to traditional rigid-bodied robots. A subclass of soft fluid-driven actuators…