20 citations · 26 across the 7 of their papers we have counts for
8 papers
Design Optimization for Large High-Force Soft Robot Manipulators Under Gravitational Loads
Isara Cholaseuk, Penelope Llibre, Alexa Kyriacou +5
Designing large soft robots capable of generating high forces for physical human-robot interaction remains a significant challenge in soft robotics. Prior work in large soft robots…
Trajectory Generation for Underactuated Soft Robot Manipulators using Discrete Elastic Rod Dynamics
Beibei Liu, Akua K. Dickson, Ran Jing +1
Soft robots are well suited for contact-rich tasks due to their compliance, yet this property makes accurate and tractable modeling challenging. Planning motions with dynamically-f…
Koopman Control Factorization: Data-Driven Convex Controller Design for a Class of Nonlinear Systems
Taha Ondogan, Ran Jing, Andrew P. Sabelhaus +1
Although Koopman operators provide a global linearization for autonomous dynamical systems, nonautonomous systems are not globally linear in the inputs. State (or output) feedback…
Safe Autonomous Environmental Contact for Soft Robots using Control Barrier Functions
Akua K. Dickson, Juan C. Pacheco Garcia, Meredith L. Anderson +6
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unint…
Real-Time Trajectory Generation for Soft Robot Manipulators Using Differential Flatness
Akua Dickson, Juan C. Pacheco Garcia, Ran Jing +2
Soft robots have the potential to interact with sensitive environments and perform complex tasks effectively. However, motion plans and trajectories for soft manipulators are chall…
Self-Sensing for Proprioception and Contact Detection in Soft Robots Using Shape Memory Alloy Artificial Muscles
Ran Jing, Meredith L. Anderson, Juan C. Pacheco Garcia +1
Estimating a soft robot's pose and applied forces, also called proprioception, is crucial for safe interaction of the robot with its environment. However, most solutions for soft r…
Maximizing Consistent Force Output for Shape Memory Alloy Artificial Muscles in Soft Robots
Meredith L. Anderson, Ran Jing, Juan C. Pacheco Garcia +4
Soft robots have immense potential given their inherent safety and adaptability, but challenges in soft actuator forces and design constraints have limited scaling up soft robots t…
DisMech: A Discrete Differential Geometry-based Physical Simulator for Soft Robots and Structures
Andrew Choi, Ran Jing, Andrew Sabelhaus +1
Fast, accurate, and generalizable simulations are a key enabler of modern advances in robot design and control. However, existing simulation frameworks in robotics either model rig…