211 citations · 756 across the 49 of their papers we have counts for
6 papers · 2 filters
Stiffness Change for Reconfiguration of Inflated Beam Robots
Brian H. Do, Shuai Wu, Ruike Renee Zhao +1
Active control of the shape of soft robots is challenging. Despite having an infinite number of passive degrees of freedom (DOFs), soft robots typically only have a few actively co…
Finite Element Modeling of Pneumatic Bending Actuators for Inflated-Beam Robots
Cosima du Pasquier, Sehui Jeong, Allison M. Okamura
Inflated-beam soft robots, such as tip-everting vine robots, can control curvature by contracting one beam side via pneumatic actuation. This work develops a general finite element…
Music Mode: Transforming Robot Movement into Music Increases Likability and Perceived Intelligence
Catie Cuan, Emre Fisher, Allison Okamura +1
As robots enter everyday spaces like offices, the sounds they create affect how they are perceived. We present Music Mode, a novel mapping between a robot's joint motions and sound…
Configuration and Fabrication of Preformed Vine Robots
Nathaniel Agharese, Allison M. Okamura
Vine robots are a class of soft continuum robots that grow via tip eversion, allowing them to move their tip without relying on reaction forces from the environment. Constructed fr…
A Comparison of Pneumatic Actuators for Soft Growing Vine Robots
Alexander M. Kübler, Cosima du Pasquier, Andrew Low +6
Soft pneumatic actuators are used to steer soft growing "vine" robots while being flexible enough to undergo the tip eversion required for growth. In this study, we compared the pe…
Passive Shape Locking for Multi-Bend Growing Inflated Beam Robots
Rianna Jitosho, Sofia Simon-Trench, Allison M. Okamura +1
Shape change enables new capabilities for robots. One class of robots capable of dramatic shape change is soft growing "vine" robots. These robots usually feature global actuation…