7 papers
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…
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…
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…
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…