5 citations · 8 across the 6 of their papers we have counts for
6 papers · 1 filter
Unified Complementarity-Based Contact Modeling and Planning for Soft Robots
Milad Azizkhani, Yue Chen
Soft robots were introduced in large part to enable safe, adaptive interaction with the environment, and this interaction relies fundamentally on contact. However, modeling and pla…
Concentric Tube Robot Redundancy Resolution via Velocity/Compliance Manipulability Optimization
Jia Shen, Yifan Wang, Milad Azizkhani +2
Concentric Tube Robots (CTR) have the potential to enable effective minimally invasive surgeries. While extensive modeling and control schemes have been proposed in the past decade…
Design, Modeling, and Redundancy Resolution of Soft Robot for Effective Harvesting
Milad Azizkhani, Anthony L. Gunderman, Alex S. Qiu +3
Blackberry harvesting is a labor-intensive and costly process, consuming up to 50\% of the total annual crop hours. This paper presents a solution for robotic harvesting through th…
Tendon-Driven Soft Robotic Gripper with Integrated Ripeness Sensing for Blackberry Harvesting
Alex Qiu, Claire Young, Anthony Gunderman +3
Growing global demand for food, coupled with continuing labor shortages, motivates the need for automated agricultural harvesting. While some specialty crops (e.g., apples, peaches…
Dynamic Control of Soft Robotic Arm: An Experimental Study
Milad Azizkhani, Anthony L. Gunderman, Isuru S. Godage +1
In this paper, a reinforced soft robot prototype with a custom-designed actuator-space string encoder are created to investigate dynamic soft robotic trajectory tracking. The soft…
Dynamic Control of Soft Robotic Arm
Milad Azizkhani, Isuru S. Godage, Yue Chen
In this article, the control problem of one section pneumatically actuated soft robotic arm is investigated in detail. To date, extensive prior work has been done in soft robotics…