1 citations · 1 across the 8 of their papers we have counts for
10 papers
ShowerFlex: Achieving Pseudo-Static Balancing in a Continuum Shower Hose
Zhiyu Ren, Girish Krishnan
With the global population rapidly aging, maintaining independence in Activities of Daily Living (ADLs), particularly bathing or showering, has become a critical challenge. Older a…
Rotate Disks to Reach Farther: Design and Modeling of a Novel Reconfigurable Tendon Driven Manipulator
Sabyasachi Dash, Yangkun Liu, Will Hunter +2
Rerouting the tendon path in tendon driven continuum manipulators (TDCMs) enables a broad range of deformation modes. This work presents a Reconfigurable TDCM design which allows i…
THREAD: Trajectory Planning for Hybrid Rigid-Soft Manipulators with Environment-Aware Diffusion
Shivani Kamtikar, Pranav Asthana, Naveen Kumar Uppalapati +2
Manipulation in confined environments, such as threading a manipulator through narrow apertures, remains a fundamental challenge, especially for conventional rigid robots. Hybrid r…
Actuation space reduction to facilitate insightful shape matching in a novel reconfigurable tendon driven continuum manipulator
Sabyasachi Dash, John Golden, Girish Krishnan
In tendon driven continuum manipulators (TDCMs), reconfiguring the tendon routing enables tailored spatial deformation of the backbone. This work presents a design in which tendons…
HyReach: Vision-Guided Hybrid Manipulator Reaching in Unseen Cluttered Environments
Shivani Kamtikar, Kendall Koe, Justin Wasserman +5
As robotic systems increasingly operate in unstructured, cluttered, and previously unseen environments, there is a growing need for manipulators that combine compliance, adaptabili…
Investigating Sensors and Methods in Grasp State Classification in Agricultural Manipulation
Benjamin Walt, Jordan Westphal, Girish Krishnan
Effective and efficient agricultural manipulation and harvesting depend on accurately understanding the current state of the grasp. The agricultural environment presents unique cha…
Digital twins for the design, interactive control, and deployment of modular, fiber-reinforced soft continuum arms
Seung Hyun Kim, Jiamiao Guo, Arman Tekinalp +9
Soft continuum arms (SCAs) promise versatile manipulation through mechanical compliance, for assistive devices, agriculture, search applications, or surgery. However, the strong no…
Zero-shot Sim-to-Real Transfer for Reinforcement Learning-based Visual Servoing of Soft Continuum Arms
Hsin-Jung Yang, Mahsa Khosravi, Benjamin Walt +2
Soft continuum arms (SCAs) soft and deformable nature presents challenges in modeling and control due to their infinite degrees of freedom and non-linear behavior. This work introd…
Precision Harvesting in Cluttered Environments: Integrating End Effector Design with Dual Camera Perception
Kendall Koe, Poojan Kalpeshbhai Shah, Benjamin Walt +7
Due to labor shortages in specialty crop industries, a need for robotic automation to increase agricultural efficiency and productivity has arisen. Previous manipulation systems pe…
A Neural Network-based Framework for Fast and Smooth Posture Reconstruction of a Soft Continuum Arm
Tixian Wang, Heng-Sheng Chang, Seung Hyun Kim +9
A neural network-based framework is developed and experimentally demonstrated for the problem of estimating the shape of a soft continuum arm (SCA) from noisy measurements of the p…