5 citations · 5 across the 6 of their papers we have counts for
5 papers · 1 filter
Design Optimization for Large High-Force Soft Robot Manipulators Under Gravitational Loads
Isara Cholaseuk, Penelope Llibre, Alexa Kyriacou +5
Designing large soft robots capable of generating high forces for physical human-robot interaction remains a significant challenge in soft robotics. Prior work in large soft robots…
Trajectory Generation for Underactuated Soft Robot Manipulators using Discrete Elastic Rod Dynamics
Beibei Liu, Akua K. Dickson, Ran Jing +1
Soft robots are well suited for contact-rich tasks due to their compliance, yet this property makes accurate and tractable modeling challenging. Planning motions with dynamically-f…
Force-Safe Environment Maps and Real-Time Detection for Soft Robot Manipulators
Akua K. Dickson, Juan C. Pacheco Garcia, Andrew P. Sabelhaus
Soft robot manipulators have the potential for deployment in delicate environments to perform complex manipulation tasks. However, existing obstacle detection and avoidance methods…
Safe Autonomous Environmental Contact for Soft Robots using Control Barrier Functions
Akua K. Dickson, Juan C. Pacheco Garcia, Meredith L. Anderson +6
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unint…
Real-Time Trajectory Generation for Soft Robot Manipulators Using Differential Flatness
Akua Dickson, Juan C. Pacheco Garcia, Ran Jing +2
Soft robots have the potential to interact with sensitive environments and perform complex tasks effectively. However, motion plans and trajectories for soft manipulators are chall…