5 citations · 6 across the 12 of their papers we have counts for
12 papers
Improving Sensing Coverage and Compliance of 3D-Printed Artificial Skins Through Multi-Modal Sensing and Soft Materials
Carson Kohlbrenner, Caleb Escobedo, Sayak Ray +5
3D-printed artificial skins are a scalable approach to whole-body tactile and proximity coverage, but prior implementations have been limited to unimodal sensing and rigid material…
Form-Fitting, Large-Area Sensor Mounting for Obstacle Detection
Anna Soukhovei, Carson Kohlbrenner, Caleb Escobedo +3
We introduce a low-cost method for mounting sensors onto robot links for large-area sensing coverage that does not require the sensor's positions or orientations to be calibrated b…
Design, Mapping, and Contact Anticipation with 3D-printed Whole-Body Tactile and Proximity Sensors
Carson Kohlbrenner, Anna Soukhovei, Caleb Escobedo +2
Robots operating in dynamic and shared environments benefit from anticipating contact before it occurs. We present GenTact-Prox, a fully 3D-printed artificial skin that integrates…
Design of a Robot-Assisted Chemical Dialysis System
Diane Jung, Caleb Escobedo, Noah Liska +4
Scientists perform diverse manual procedures that are tedious and laborious. Such procedures are considered a bottleneck for modern experimental science, as they consume time and i…
A Framework for the Systematic Evaluation of Obstacle Avoidance and Object-Aware Controllers
Caleb Escobedo, Nataliya Nechyporenko, Shreyas Kadekodi +1
Real-time control is an essential aspect of safe robot operation in the real world with dynamic objects. We present a framework for the analysis of object-aware controllers, method…
GenTact Toolbox: A Computational Design Pipeline to Procedurally Generate Context-Driven 3D Printed Whole-Body Artificial Skins
Carson Kohlbrenner, Caleb Escobedo, S. Sandra Bae +2
Developing whole-body tactile skins for robots remains a challenging task, as existing solutions often prioritize modular, one-size-fits-all designs, which, while versatile, fail t…
A Machine Learning Approach to Contact Localization in Variable Density Three-Dimensional Tactile Artificial Skin
Carson Kohlbrenner, Mitchell Murray, Yutong Zhang +5
Estimating the location of contact is a primary function of artificial tactile sensing apparatuses that perceive the environment through touch. Existing contact localization method…
A Sensor Position Localization Method for Flexible, Non-Uniform Capacitive Tactile Sensor Arrays
Carson Kohlbrenner, Caleb Escobedo, Nataliya Nechyporenko +1
Tactile sensing is used in robotics to obtain real-time feedback during physical interactions. Fine object manipulation is a robotic application that benefits from a high density o…
CAT-RRT: Motion Planning that Admits Contact One Link at a Time
Nataliya Nechyporenko, Caleb Escobedo, Shreyas Kadekodi +1
Current motion planning approaches rely on binary collision checking to evaluate the validity of a state and thereby dictate where the robot is allowed to move. This approach leave…
Contact Anticipation for Physical Human-Robot Interaction with Robotic Manipulators using Onboard Proximity Sensors
Caleb Escobedo, Matthew Strong, Mary West +2
In this paper, we present a framework that unites obstacle avoidance and deliberate physical interaction for robotic manipulators. As humans and robots begin to coexist in work and…
Self-Contained Kinematic Calibration of a Novel Whole-Body Artificial Skin for Human-Robot Collaboration
Kandai Watanabe, Matthew Strong, Mary West +4
In this paper, we present an accelerometer-based kinematic calibration algorithm to accurately estimate the pose of multiple sensor units distributed along a robot body. Our approa…
Volumetric Data Fusion of External Depth and Onboard Proximity Data For Occluded Space Reduction
Matthew Strong, Caleb Escobedo, Alessandro Roncone
In this work, we present a method for a probabilistic fusion of external depth and onboard proximity data to form a volumetric 3-D map of a robot's environment. We extend the Octom…