81 citations · 210 across the 31 of their papers we have counts for
18 papers · 1 filter
Py-DiSMech: A Scalable and Efficient Framework for Discrete Differential Geometry-Based Modeling and Control of Soft Robots
Radha Lahoti, Ryan Chaiyakul, M. Khalid Jawed
High-fidelity simulation has become essential to the design and control of soft robots, where large geometric deformations and complex contact interactions challenge conventional m…
Vision-Guided Targeted Grasping and Vibration for Robotic Pollination in Controlled Environments
Jaehwan Jeong, Tuan-Anh Vu, Radha Lahoti +4
Robotic pollination offers a promising alternative to manual labor and bumblebee-assisted methods in controlled agriculture, where wind-driven pollination is absent and regulatory…
AgriCruiser: An Open Source Agriculture Robot for Over-the-row Navigation
Kenny Truong, Yongkyu Lee, Jason Irie +5
We present the AgriCruiser, an open-source over-the-row agricultural robot developed for low-cost deployment and rapid adaptation across diverse crops and row layouts. The chassis…
AgriChrono: A Multi-modal Dataset Capturing Crop Growth and Lighting Variability with a Field Robot
Jaehwan Jeong, Tuan-Anh Vu, Mohammad Jony +4
Advances in AI and Robotics have accelerated significant initiatives in agriculture, particularly in the areas of robot navigation and 3D digital twin creation. A significant bottl…
Bundling and Tumbling in Bacterial-inspired Bi-flagellated Soft Robots for Attitude Adjustment
Zhuonan Hao, Siddharth Zalavadia, Mohammad Khalid Jawed
We create a mechanism inspired by bacterial swimmers, featuring two flexible flagella with individual control over rotation speed and direction in viscous fluid environments. Using…
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…
Modeling, Characterization, and Control of Bacteria-inspired Bi-flagellated Mechanism with Tumbling
Zhuonan Hao, Sangmin Lim, M. Khalid Jawed
Multi-flagellated bacteria utilize the hydrodynamic interaction between their filamentary tails, known as flagella, to swim and change their swimming direction in low Reynolds numb…
Sim2Real Neural Controllers for Physics-based Robotic Deployment of Deformable Linear Objects
Dezhong Tong, Andrew Choi, Longhui Qin +3
Deformable linear objects (DLOs), such as rods, cables, and ropes, play important roles in daily life. However, manipulation of DLOs is challenging as large geometrically nonlinear…
Design of Bistable Soft Deployable Structures via a Kirigami-inspired Planar Fabrication Approach
Mrunmayi Mungekar, Leixin Ma, Wenzhong Yan +3
Fully soft bistable mechanisms have shown extensive applications ranging from soft robotics, wearable devices, and medical tools, to energy harvesting. However, the lack of design…
mBEST: Realtime Deformable Linear Object Detection Through Minimal Bending Energy Skeleton Pixel Traversals
Andrew Choi, Dezhong Tong, Brian Park +3
Robotic manipulation of deformable materials is a challenging task that often requires realtime visual feedback. This is especially true for deformable linear objects (DLOs) or "ro…
Learning Neural Force Manifolds for Sim2Real Robotic Symmetrical Paper Folding
Andrew Choi, Dezhong Tong, Demetri Terzopoulos +2
Robotic manipulation of slender objects is challenging, especially when the induced deformations are large and nonlinear. Traditionally, learning-based control approaches, such as…
Preemptive Motion Planning for Human-to-Robot Indirect Placement Handovers
Andrew Choi, Mohammad Khalid Jawed, Jungseock Joo
As technology advances, the need for safe, efficient, and collaborative human-robot-teams has become increasingly important. One of the most fundamental collaborative tasks in any…
Mechanics-based Analysis on Flagellated Robots
Yayun Du, Andrew Miller, M. Khalid Jawed
We explore the locomotion of soft robots in granular medium (GM) resulting from the elastic deformation of slender rods. A low-cost, rapidly fabricable robot inspired by the physio…
Automated stability testing of elastic rods with helical centerlines using a robotic system
Dezhong Tong, Andy Borum, M. Khalid Jawed
Experimental analysis of the mechanics of a deformable object, and particularly its stability, requires repetitive testing and, depending on the complexity of the object's shape, a…
A Low-cost Robot with Autonomous Recharge and Navigation for Weed Control in Fields with Narrow Row Spacing
Yayun Du, Bhrugu Mallajosyula, Deming Sun +5
Modern herbicide application in agricultural settings typically relies on either large scale sprayers that dispense herbicide over crops and weeds alike or portable sprayers that r…
Simple Flagellated Soft Robot for Locomotion near Air-Fluid Interface
Yayun Du, Andrew Miller, Mohammad Khalid Jawed
A wide range of microorganisms, e.g. bacteria, propel themselves by rotation of soft helical tails, also known as flagella. Due to the small size of these organisms, viscous forces…
Modeling the locomotion of articulated soft robots in granular medium
Yayun Du, Jacqueline Lam, Karunesh Sachanandani +1
Soft robots, in contrast to their rigid counter parts, have infinite degrees of freedom that are coupled with their interaction with the environment. We consider the locomotion of…
Control of uniflagellar soft robots at low Reynolds number using buckling instability
Mojtaba Forghani, Weicheng Huang, M. Khalid Jawed
In this paper, we analyze the inverse dynamics and control of a bacteria-inspired uniflagellar robot in a fluid medium at low Reynolds number. Inspired by the mechanism behind the…