3 papers
cs.RO2026
Damage Adaptation in Seconds for Architected Materials
James Avtges, Jake Ketchum, Helena Young +3
Adaptation to damages and in-situ physical repairs is essential for long-term robot autonomy, yet challenging outside of narrowly defined and well-anticipated bounds. In this work…
cs.RO2025
Real-Time Reinforcement Learning for Dynamic Tasks with a Parallel Soft Robot
James Avtges, Jake Ketchum, Millicent Schlafly +5
Closed-loop control remains an open challenge in soft robotics. The nonlinear responses of soft actuators under dynamic loading conditions limit the use of analytic models for soft…
cs.RO2025
Force and Speed in a Soft Stewart Platform
Jake Ketchum, James Avtges, Millicent Schlafly +4
Many soft robots struggle to produce dynamic motions with fast, large displacements. We develop a parallel 6 degree-of-freedom (DoF) Stewart-Gough mechanism using Handed Shearing A…