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cs.RO2026
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…
cs.RO2025
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…
cs.RO2024
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…