Declan Mulroy

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 ↗

2022

Using R-Functions to Control the Shape of Soft Robots

Declan Mulroy, Esteban Lopez, Matthew Spenko, Ankit Srivastava

RA-L 2022

In this letter, we introduce a new approach for soft robot shape formation and morphing using approximate distance fields. The method uses concepts from constructive solid geometry, R-functions, to construct an approximate distance function to the boundary of a domain in <inline-formula xmlns:mml="h

Cited by 5 Source ↗Scholar ↗