5 accepted papers
We introduce PAPRLE (Plug-And-Play Robotic Limb Environment), a modular ecosystem that enables flexible placement and control of robotic limbs. With PAPRLE, a user can re-configure the arrangement of the robotic limbs, and control them with various kinds of devices, including puppeteers, handheld co…
We propose the framework of Series Elastic End Effectors in 6D (SEED), which combines a spatially compliant element with visuotactile sensing to grasp and manipulate tools in the wild. Our framework generalizes the benefits of series elasticity to 6-dof, while providing an abstraction of control usi…
Multibody simulation with frictional contact has been a challenging subject of research for the past thirty years. Rigidbody assumptions are commonly used to approximate the physics of contact, and together with Coulomb friction, lead to challengingto-solve nonlinear complementarity problems (NCP).
Modeling deformable contact is a well-known problem in soft robotics and is particularly challenging for compliant interfaces that permit large deformations. We present a model for the behavior of a highly deformable dense geometry sensor in its interaction with objects; the forward model predicts t
Manipulation in cluttered environments like homes requires stable grasps, precise placement and robustness against external contact. Towards addressing these challenges, we present the Soft-bubble gripper system that combines highly compliant gripping surfaces with dense-geometry visuotactile sensin…