11 papers
Toward Geometry-Scalable Whole-Body Touch for Humanoids: A 3D-Printed Conformal EIT Skin
Haofeng Chen, Carson Kohlbrenner, Jiri Kubik +6
Whole-body tactile sensing is a prerequisite for humanoids that operate in contact-rich human environments, but conventional taxel arrays scale poorly with surface area, wiring com…
Compliant Sphere Lattice Contact: Distributed Contact Modeling for Sphere-Based Robot Representations
Nataliya Nechyporenko, Ava Abderezaei, Alessandro Roncone
Contact planning in robotics requires models that are both computationally efficient and physically accurate. Sphere-based robot representations satisfy the first requirement by en…
Compliant Explicit Reference Governor for Contact Friendly Robotic Manipulators
Yaashia Gautam, Gilberto Briscoe-Martinez, Adhitya Mohan +3
This paper introduces the Compliant Explicit Reference Governor (CERG), a modular reference management system that enables robots to interact physically with their environment unde…
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…
Egocentric Tactile and Proximity Sensors as Observation Priors for Humanoid Collision Avoidance
Carson Kohlbrenner, Niraj Pudasaini, William Xie +3
Collision-free motion is often aided by tactile and proximity sensors distributed on the body of the robot due to their resistance to occlusion as opposed to external cameras. Howe…
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…