11 citations · 12 across the 6 of their papers we have counts for
7 papers
Collocated Shape Regulation for Soft Robots
Pietro Pustina, Ebrahim Shahabi, Daniel Feliu-Talegon +2
Controlling the shape of a continuum soft robot typically requires an accurate dynamic model and actuation of all degrees of freedom. We show that regulating only the actuated coor…
Learning to infer and manipulate through distributed whole-arm interaction in a soft robot
Chuhan Zhang, Ebrahim Shahabi, Kseniia Khomenko +2
In animals such as elephants and octopuses, acquiring non-visual information about an object and physically engaging with it are inseparable processes mediated by rich, large-area…
Reconciling distributed compliance with high-performance control in continuum soft robotics
Vito Daniele Perfetta, Daniel Feliu-Talegon, Ebrahim Shahabi +1
High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise arc…
SENSE-STEP: Learning Sim-to-Real Locomotion for a Sensory-Enabled Soft Quadruped Robot
Storm de Kam, Ebrahim Shahabi, Cosimo Della Santina
Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, whil…
3D Printable Gradient Lattice Design for Multi-Stiffness Robotic Fingers
Siebe J. Schouten, Tomas Steenman, Rens File +5
Human fingers achieve exceptional dexterity and adaptability by combining structures with varying stiffness levels, from soft tissues (low) to tendons and cartilage (medium) to bon…
Mastering Contact-rich Tasks by Combining Soft and Rigid Robotics with Imitation Learning
Mariano Ramírez Montero, Ebrahim Shahabi, Giovanni Franzese +3
Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, bu…
Berry Twist: a Twisting-Tube Soft Robotic Gripper for Blackberry Harvesting
Johannes F. Elfferich, Ebrahim Shahabi, Cosimo Della Santina +1
As global demand for fruits and vegetables continues to rise, the agricultural industry faces challenges in securing adequate labor. Robotic harvesting devices offer a promising so…