Kaitlyn P. Becker — accepted AI-conference papers

2022

Controlling Soft Fluidic Actuators Using Soft DEA-Based Valves

Johan Poccard-Saudart, Siyi Xu, Clark B. Teeple, Nak-seung Patrick Hyun, Kaitlyn P. Becker, Robert J. Wood

RA-L 2022

Fluidic soft actuators have been widely used for applications where compliance is desirable – such as in delicate robotic manipulation. As their operation is based on pressurization, fluidic actuators typically rely on bulky, rigid pumps, valves, and pressure regulators for control. This dependence

Cited by 12 Source ↗Scholar ↗

2018

Soft Curvature and Contact Force Sensors for Deep-Sea Grasping via Soft Optical Waveguides

Clark B. Teeple, Kaitlyn P. Becker, Robert J. Wood

IROS 2018poster

In this work, we show that sensors based on soft, intentionally-lossy optical waveguides are well-suited for soft robotic grasping applications in the deep-sea. Each finger of a soft robotic hand is outfitted with a 2×1 array of optical sensing elements to enable proprioception and contact force sen…

Cited by 43 Source ↗Scholar ↗

2017

Tunable friction through constrained inflation of an elastomeric membrane

Kaitlyn P. Becker, Nicholas W. Bartlett, Melinda J. D. Malley, Peter M. Kjeer, Robert J. Wood

ICRA 2017poster

Many areas of robotics, particularly locomotion and grasping, can benefit from the ability to modulate friction on surfaces that come into contact with objects in the environment. Previous research has tried to address the challenge of tunable friction; however, those efforts only provide modest gai…

Cited by 23 Source ↗Scholar ↗