5 accepted papers
Multi-part assembly poses significant challenges for robotic systems to execute long-horizon, contact-rich manipulation with generalization across complex geometries. We present a dual-arm robotic system capable of end-to-end planning and control for autonomous assembly of general multi-part objects…
Sensing plays a pivotal role in robotic manipulation, dictating the accuracy and versatility with which objects are handled. Vision-based sensing methods often suffer from fabrication complexity and low durability, while approaches that rely on direct measurements on the gripper often have limited r…
Machine learning-based approaches for soft robot proprioception have recently gained popularity, in part due to the difficulties in modeling the relationship between sensor signals and robot shape. However, to date, there exists no systematic analysis of the required design choices to set up a machi…
Soft robots can be incredibly robust and safe but typically fail to match the strength and precision of rigid robots. This dichotomy between soft and rigid is recently starting to break down, with emerging research interest in hybrid soft-rigid robots. In this work, we draw inspiration from Nature,…
Developing reliable control strategies in soft robotics requires advances in soft robot perception. However, current soft robotic sensors pose many performance limitations, and available materials and manufacturing techniques complicate soft sensorized robot design. To address these long-standing ne