Marc Killpack — accepted AI-conference papers

2022

Modeling the dynamics of soft robots by discs and threads

Joshua A. Schultz, Haley Sanders, Phuc Duc Hong Bui, Brett Layer, Marc Killpack

ICRA 2022poster

In this paper, we propose a new tractable ordinary differential equation formulation for dynamic simulation of fabric- reinforced inflatable soft robots. The method performs a lumped-parameter discretization of the continuum robot into discrete discs (inertia), spring elements, and threads (represen…

Cited by 8 Source ↗Scholar ↗

2017

Analysis of Rigid Extended Object Co-Manipulation by Human Dyads: Lateral Movement Characterization

Erich Mielke, Eric Townsend, Marc Killpack

RSS 2017poster

For co-manipulation involving humans and robots, robot controllers that are based on human-human behavior should allow more comfortable and coordinated movement between the human-robot dyad. In this paper, we describe an experiment between human-human dyads where we recorded the force and motion dat…

Cited by 30 Source ↗PDF ↗Scholar ↗