4 papers
U-Joint CAAMS: Experimental Evaluation of a Universal-Joint Continuum Manipulator for Aerial Manipulation
Anuraj Uthayasooriyan, Musab Alibrahim, Krishna Manaswi Digumarti +2
Continuum manipulators mounted on multi-rotor UAVs enable compliant aerial manipulation, but payloads and propeller downwash amplify out-of-plane bending and twisting that degrade…
An Experimental Characterization of Mechanical Layer Jamming Systems
Jessica Gumowski, Krishna Manaswi Digumarti, David Howard
Organisms in nature, such as Cephalopods and Pachyderms, exploit stiffness modulation to achieve amazing dexterity in the control of their appendages. In this paper, we explore the…
Tilt-X: Enabling Compliant Aerial Manipulation through a Tiltable-Extensible Continuum Manipulator
Anuraj Uthayasooriyan, Krishna Manaswi Digumarti, Jack Breward +3
Aerial manipulators extend the reach and manipulation capabilities of uncrewed multirotor aerial vehicles for inspection, agriculture, sampling, and delivery. Continuum arm aerial…
Programmable Telescopic Soft Pneumatic Actuators for Deployable and Shape Morphing Soft Robots
Joel Kemp, Andre Farinha, David Howard +2
Soft Robotics presents a rich canvas for free-form and continuum devices capable of exerting forces in any direction and transforming between arbitrary configurations. However, the…