1 citations · 1 across the 8 of their papers we have counts for
5 papers · 1 filter
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…