9 papers
Improving Sensing Coverage and Compliance of 3D-Printed Artificial Skins Through Multi-Modal Sensing and Soft Materials
Carson Kohlbrenner, Caleb Escobedo, Sayak Ray +5
3D-printed artificial skins are a scalable approach to whole-body tactile and proximity coverage, but prior implementations have been limited to unimodal sensing and rigid material…
Form-Fitting, Large-Area Sensor Mounting for Obstacle Detection
Anna Soukhovei, Carson Kohlbrenner, Caleb Escobedo +3
We introduce a low-cost method for mounting sensors onto robot links for large-area sensing coverage that does not require the sensor's positions or orientations to be calibrated b…
Design, Mapping, and Contact Anticipation with 3D-printed Whole-Body Tactile and Proximity Sensors
Carson Kohlbrenner, Anna Soukhovei, Caleb Escobedo +2
Robots operating in dynamic and shared environments benefit from anticipating contact before it occurs. We present GenTact-Prox, a fully 3D-printed artificial skin that integrates…
Design of a Robot-Assisted Chemical Dialysis System
Diane Jung, Caleb Escobedo, Noah Liska +4
Scientists perform diverse manual procedures that are tedious and laborious. Such procedures are considered a bottleneck for modern experimental science, as they consume time and i…
A Framework for the Systematic Evaluation of Obstacle Avoidance and Object-Aware Controllers
Caleb Escobedo, Nataliya Nechyporenko, Shreyas Kadekodi +1
Real-time control is an essential aspect of safe robot operation in the real world with dynamic objects. We present a framework for the analysis of object-aware controllers, method…
CAT-RRT: Motion Planning that Admits Contact One Link at a Time
Nataliya Nechyporenko, Caleb Escobedo, Shreyas Kadekodi +1
Current motion planning approaches rely on binary collision checking to evaluate the validity of a state and thereby dictate where the robot is allowed to move. This approach leave…