2 citations · 2 across the 4 of their papers we have counts for
5 papers
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…
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…
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…
Active Exploration for Real-Time Haptic Training
Jake Ketchum, Ahalya Prabhakar, Todd D. Murphey
Tactile perception is important for robotic systems that interact with the world through touch. Touch is an active sense in which tactile measurements depend on the contact propert…
Automated Gait Generation For Walking, Soft Robotic Quadrupeds
Jake Ketchum, Sophia Schiffer, Muchen Sun +3
Gait generation for soft robots is challenging due to the nonlinear dynamics and high dimensional input spaces of soft actuators. Limitations in soft robotic control and perception…