Esteban Lopez

2 accepted papers

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 ↗

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 ↗