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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…