David Cañones Bonham

2 accepted papers

2025

Real-Time Grasp Quality in Boundary-Constrained Granular Swarm Robots

Declan Mulroy, David Cañones Bonham, Matthew Spenko, Ankit Srivastava

ICRA 2025

Soft robotic grippers offer advantages over rigid end effectors but are typically coupled to a rigid robot for locomotion. In contrast, this paper details a soft robot for both locomotion and grasping. The system is a type of boundaryconstrained granular swarm robot, which is composed of a closed-lo

Cited by 0 Source ↗Scholar ↗

2023

SLAM and Shape Estimation for Soft Robots

Mohammad Amin Karimi, David Cañones Bonham, Esteban Lopez, Ankit Srivastava, Matthew Spenko

IROS 2023poster

This paper describes Simultaneous Localization and Mapping (SLAM) techniques for mobile soft robots using on-board local sensors. The paper focuses on planar boundary-constrained swarms, which are comprised of identical modular sub-units, each flexibly connected to its neighbor. The sub-units themse…

Cited by 4 Source ↗Scholar ↗