Krishna Manaswi Digumarti — accepted AI-conference papers

2026

Tilt-X: Enabling Compliant Aerial Manipulation through a Tiltable-Extensible Continuum Manipulator

Anuraj Uthayasooriyan, Krishna Manaswi Digumarti, Jack Ronald Breward, Fernando Vanegas Alvarez, Julian Galvez-Serna, Felipe Gonzalez

ICRA 2026poster

Aerial manipulators extend the reach and manipulation capabilities of uncrewed multirotor aerial vehicles for inspection, agriculture, sampling, and delivery. Continuum arm aerial manipulation systems offer lightweight, dexterous, and compliant interaction opportunities. Existing designs allow manip…

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2025

Design and Characterization of a Thermal-electrostatic Dual-modal Soft Pouch Motor

Chuang Wu, Youzhan Wang, Xiaozheng Li, Qingbiao Li, Krishna Manaswi Digumarti, Chongjing Cao

IROS 2025

Pouch motors continue to attract research attention owing to their simple fabrication process, low cost, and excellent energy density. Existing pouch motors based on the liquid-gas phase transition (LGPT) principle exhibit significant stroke and force outputs but suffer from slow responses. Pouch mo

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2025

T-Touch: a Soft Thermal-haptic Multimodal Fingertip Wearable Device for Immersive Virtual Reality

Youzhan Wang, Jinjun Li, Chuang Wu, Xiaozheng Li, Qingbiao Li, Krishna Manaswi Digumarti +1

IROS 2025

Virtual reality (VR) technology has enormous applications in education, entertainment, and healthcare. Haptic feedback can significantly enhance the immersive experience in VR. However, most commercial hand/fingertip wearable VR haptic devices rely on bulky rigid structures, which are limited in the

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2022

Electro-Adhesive Tubular Clutch for Variable-Stiffness Robots

Yi Sun, Krishna Manaswi Digumarti, Hoang-Vu Phan, Omar Aloui, Dario Floreano

IROS 2022poster

Electro-adhesive clutches have become effective tools for variable stiffness functions in many robotic systems due to their light weight, high speed and strong brake force. In this paper, we present a novel, tubular design of an electro-adhesive clutch. Our clutch consists of flexible electrode shee…

Cited by 7 Source ↗Scholar ↗

2022

Slip Anticipation for Grasping Deformable Objects Using a Soft Force Sensor

Euan Judd, Bekir Aksoy, Krishna Manaswi Digumarti, Herbert Shea, Dario Floreano

IROS 2022poster

Robots using classical control have revolutionised assembly lines where the environment and manipulated objects are restricted and predictable. However, they have proven less effective when the manipulated objects are deformable due to their complex and unpredictable behaviour. The use of tactile se…

Cited by 7 Source ↗Scholar ↗

2021

B: Ionic Glove: A Soft Smart Wearable Sensory Feedback Device for Upper Limb Robotic Prostheses

Melanie Florine Simons, Krishna Manaswi Digumarti, Nguyen Hao Le, Hsing-Yu Chen, Sara Correia Carreira, Nouf S. S. Zaghloul +5

RA-L 2021

Upper limb robotic prosthetic devices currently lack adequate sensory feedback, contributing to a high rejection rate. Incorporating affective sensory feedback into these devices reduces phantom limb pain and increases control and acceptance. To address the lack of sensory feedback we present the B:

Cited by 29 Source ↗Scholar ↗

2021

Dexterous textile manipulation using electroadhesive fingers

Krishna Manaswi Digumarti, Vito Cacucciolo, Herbert Shea

IROS 2021poster

Handling of fabric is a crucial step in the manufacturing of garments. This task is typically performed by trained workers who manipulate one sheet at a time, thus introducing a bottleneck in the automation of the textile industry. This paper seeks to address the challenge of picking fabric up by pr…

Cited by 22 Source ↗Scholar ↗

2019

Pellicular Morphing Surfaces for Soft Robots

Krishna Manaswi Digumarti, Andrew T. Conn, Jonathan Rossiter

RA-L 2019

Soft structures in nature endow organisms across scales with the ability to drastically deform their bodies and exhibit complex behaviors while overcoming challenges in their environments. Inspired by microstructures found in the cell membranes of the Euglena family of microorganisms, which exhibit

Cited by 4 Source ↗Scholar ↗

2017

Euglenoid-Inspired Giant Shape Change for Highly Deformable Soft Robots

Krishna Manaswi Digumarti, Andrew T. Conn, Jonathan Rossiter

RA-L 2017

Nature has exploited softness and compliance in many different forms, from large cephalopods to microbial bacteria and algae. In all these cases, large body deformations are used for both object manipulation and locomotion. The great potential of soft robotics is to capture and replicate these capab

Cited by 39 Source ↗Scholar ↗