3 papers
cs.RO2025
Flying Vines: Design, Modeling, and Control of a Soft Aerial Robotic Arm
Rianna Jitosho, Crystal E. Winston, Shengan Yang +5
Aerial robotic arms aim to enable inspection and environment interaction in otherwise hard-to-reach areas from the air. However, many aerial manipulators feature bulky or heavy rob…
cs.RO2022
Hybrid Learning- and Model-Based Planning and Control of In-Hand Manipulation
Rana Soltani Zarrin, Katsu Yamane, Rianna Jitosho
This paper presents a hierarchical framework for planning and control of in-hand manipulation of a rigid object involving grasp changes using fully-actuated multifingered robotic h…
cs.RO2020
A Dynamics Simulator for Soft Growing Robots
Rianna Jitosho, Nathaniel Agharese, Allison Okamura +1
Simulating soft robots in cluttered environments remains an open problem due to the challenge of capturing complex dynamics and interactions with the environment. Furthermore, fast…