5 papers · 1 filter
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…
phloSAR: a Portable, High-Flow Pressure Supply and Regulator Enabling Untethered Operation of Large Pneumatic Soft Robots
Maxwell Ahlquist, Rianna Jitosho, Jiawen Bao +1
Pneumatic actuation benefits soft robotics by facilitating compliance, enabling large volume change, and concentrating actuator weight away from the end-effector. However, portabil…
Passive Shape Locking for Multi-Bend Growing Inflated Beam Robots
Rianna Jitosho, Sofia Simon-Trench, Allison M. Okamura +1
Shape change enables new capabilities for robots. One class of robots capable of dramatic shape change is soft growing "vine" robots. These robots usually feature global actuation…
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…
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…