4 papers
Trajectory Generation for Underactuated Soft Robot Manipulators using Discrete Elastic Rod Dynamics
Beibei Liu, Akua K. Dickson, Ran Jing +1
Soft robots are well suited for contact-rich tasks due to their compliance, yet this property makes accurate and tractable modeling challenging. Planning motions with dynamically-f…
Safe Autonomous Environmental Contact for Soft Robots using Control Barrier Functions
Akua K. Dickson, Juan C. Pacheco Garcia, Meredith L. Anderson +6
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unint…
Koopman Control Factorization: Data-Driven Convex Controller Design for a Class of Nonlinear Systems
Taha Ondogan, Ran Jing, Andrew P. Sabelhaus +1
Although Koopman operators provide a global linearization for autonomous dynamical systems, nonautonomous systems are not globally linear in the inputs. State (or output) feedback…
Real-Time Trajectory Generation for Soft Robot Manipulators Using Differential Flatness
Akua Dickson, Juan C. Pacheco Garcia, Ran Jing +2
Soft robots have the potential to interact with sensitive environments and perform complex tasks effectively. However, motion plans and trajectories for soft manipulators are chall…