10 papers · 1 filter
A Task-Agnostic Control Strategy for Dynamic Assistance with Pneumatically Actuated Soft Exosuits
Anoush Sepehri, Zachary Huang, Raymond de Callafon +2
Pneumatic artificial muscles have provided new opportunities to develop upper-extremity soft exosuits for reha- bilitation, augmentation, and assisted daily living. However, the co…
Real-time Estimator of Actuator Control and Health (REACH) on an Eel-Inspired Soft Robot
Zhangjingyi Jiang, Myungsun Park, Michael T. Tolley +1
An actuator health estimation algorithm for a soft swimming robot that can perform anguilliform swimming is developed. Due to harsh operational environments of underwater robots, a…
House of Dextra: Cross-embodied Co-design for Dexterous Hands
Kehlani Fay, Darin Anthony Djapri, Anya Zorin +6
Dexterous manipulation is limited by both control and design, without consensus as to what makes manipulators best for performing dexterous tasks. This raises a fundamental challen…
Generating Robot Hands from Human Demonstrations
Sha Yi, Nicklas Hansen, Xueqian Bai +3
Robot learning has advanced rapidly in learning control, but learning the physical body of a robot remains much more difficult because jointly searching over design and control cre…
TacO: Benchmarking Tactile Sensors for Object Manipulation
Anya Zorin, Zilin Si, Myungsun Park +11
Vision-based learning from demonstrations has achieved remarkable success in enabling robots to perform manipulation tasks and high-level semantic reasoning, yet it remains insuffi…
Interdisciplinary Workshop on Mechanical Intelligence: Summary Report
Victoria A. Webster-Wood, Nicholas Gravish, Amir Alavi +37
This report provides a summary of the outcomes of the Interdisciplinary Workshop on Mechanical Intelligence held in 2024. Mechanical Intelligence (MI) represents the phenomenon tha…