33 citations · 69 across the 6 of their papers we have counts for
6 papers
Industrial Dexterity Benchmark: A Hardware-Software Benchmarking Platform for Industrial Dexterous Manipulation
Honglu He, Jacob Laufer, Zhiwu Zheng +8
Dexterous manipulation remains a critical bottleneck in industrial automation; tasks such as cable routing, connector insertion, and precision assembly still rely heavily on manual…
eViper: A Scalable Platform for Untethered Modular Soft Robots
Hsin Cheng, Zhiwu Zheng, Prakhar Kumar +6
Soft robots present unique capabilities, but have been limited by the lack of scalable technologies for construction and the complexity of algorithms for efficient control and moti…
Wirelessly-Controlled Untethered Piezoelectric Planar Soft Robot Capable of Bidirectional Crawling and Rotation
Zhiwu Zheng, Hsin Cheng, Prakhar Kumar +4
Electrostatic actuators provide a promising approach to creating soft robotic sheets, due to their flexible form factor, modular integration, and fast response speed. However, thei…
Model-Based Control of Planar Piezoelectric Inchworm Soft Robot for Crawling in Constrained Environments
Zhiwu Zheng, Prakhar Kumar, Yenan Chen +5
Soft robots have drawn significant attention recently for their ability to achieve rich shapes when interacting with complex environments. However, their elasticity and flexibility…
Scalable Simulation and Demonstration of Jumping Piezoelectric 2-D Soft Robots
Zhiwu Zheng, Prakhar Kumar, Yenan Chen +5
Soft robots have drawn great interest due to their ability to take on a rich range of shapes and motions, compared to traditional rigid robots. However, the motions, and underlying…
Piezoelectric Soft Robot Inchworm Motion by Tuning Ground Friction through Robot Shape: Quasi-Static Modeling and Experimental Validation
Zhiwu Zheng, Prakhar Kumar, Yenan Chen +5
Electrically-driven soft robots based on piezoelectric actuators may enable compact form factors and maneuverability in complex environments. In most prior work, piezoelectric actu…