10 citations · 36 across the 10 of their papers we have counts for
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Switchable-Polarity Electropermanent Magnet: Reconfigurable Magnetic Fields for Scalable Fluidic Control
Bingchao Wang, Jonah Mack, Francesco Giorgio-Serchi +1
Scalable control of pneumatic and fluidic networks remains fundamentally constrained by architectures that require continuous power input, dense external control hardware, and fixe…
Learning-enhanced electronic skin for tactile sensing on deformable surface based on electrical impedance tomography
Huazhi Dong, Xiaopeng Wu, Delin Hu +3
Electrical Impedance Tomography (EIT)-based tactile sensors offer cost-effective and scalable solutions for robotic sensing, especially promising for soft robots. However a major i…
Closed-Loop Control and Disturbance Mitigation of an Underwater Multi-Segment Continuum Manipulator
Kyle L. Walker, Hsing-Yu Chen, Alix J. Partridge +3
The use of soft and compliant manipulators in marine environments represents a promising paradigm shift for subsea inspection, with devices better suited to tasks owing to their ab…
Data-efficient Tactile Sensing with Electrical Impedance Tomography
Huazhi Dong, Ronald B. Liu, Leo Micklem +3
Electrical Impedance Tomography (EIT)-inspired tactile sensors are gaining attention in robotic tactile sensing due to their cost-effectiveness, safety, and scalability with sparse…
A Modular, Tendon Driven Variable Stiffness Manipulator with Internal Routing for Improved Stability and Increased Payload Capacity
Kyle L. Walker, Alix J. Partridge, Hsing-Yu Chen +5
Stability and reliable operation under a spectrum of environmental conditions is still an open challenge for soft and continuum style manipulators. The inability to carry sufficien…
Model Predictive Wave Disturbance Rejection for Underwater Soft Robotic Manipulators
Kyle L. Walker, Cosimo Della Santina, Francesco Giorgio-Serchi
Inspired by the octopus and other animals living in water, soft robots should naturally lend themselves to underwater operations, as supported by encouraging validations in deep wa…
Fluidic FlowBots: Intelligence embodied in the characteristics of recirculating fluid flow
Maks Gepner, Jonah Mack, Francesco Giorgio-Serchi +1
The one-to-one mapping of control inputs to actuator outputs results in elaborate routing architectures that limit how complex fluidic soft robot behaviours can currently become. E…
Disturbance Preview for Nonlinear Model Predictive Trajectory Tracking of Underwater Vehicles in Wave Dominated Environments
Kyle L. Walker, Francesco Giorgio-Serchi
Operating in the near-vicinity of marine energy devices poses significant challenges to the control of underwater vehicles, predominantly due to the presence of large magnitude wav…
Touch and deformation perception of soft manipulators with capacitive e-skins and deep learning
Delin Hu, Zhou Chen, Paul Baisamy +3
Tactile sensing in soft robots remains particularly challenging because of the coupling between contact and deformation information which the sensor is subject to during actuation…
Feed-forward Disturbance Compensation for Station Keeping in Wave-dominated Environments
Kyle L. Walker, Adam A. Stokes, Aristides Kiprakis +1
When deploying robots in shallow ocean waters, wave disturbances can be significant, highly dynamic and pose problems when operating near structures; this is a key limitation of cu…