58 citations · 120 across the 12 of their papers we have counts for
5 papers · 1 filter
In-Situ Sensing and Dynamics Predictions for Electrothermally-Actuated Soft Robot Limbs
Andrew P. Sabelhaus, Rohan K. Mehta, Anthony T. Wertz +1
Untethered soft robots that locomote using electrothermally-responsive materials like shape memory alloy (SMA) face challenging design constraints for sensing actuator states. At t…
ReSkin: versatile, replaceable, lasting tactile skins
Raunaq Bhirangi, Tess Hellebrekers, Carmel Majidi +1
Soft sensors have continued growing interest in robotics, due to their ability to enable both passive conformal contact from the material properties and active contact data from th…
Robust Control of a Multi-Axis Shape Memory Alloy-Driven Soft Manipulator
Zach J. Patterson, Andrew P. Sabelhaus, Carmel Majidi
Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional m…
Trajectory Optimization for Thermally-Actuated Soft Planar Robot Limbs
Anthony Wertz, Andrew P. Sabelhaus, Carmel Majidi
Practical use of robotic manipulators made from soft materials requires generating and executing complex motions. We present the first approach for generating trajectories of a the…
Nonlinear Statistical Mechanics Drives Intrinsic Electrostriction and Volumetric Torque in Polymer Networks
Matthew Grasinger, Carmel Majidi, Kaushik Dayal
Statistical mechanics is an important tool for understanding polymer electroelasticity because the elasticity of polymers is primarily due to entropy. However, a common approach fo…