Toby Howison — accepted AI-conference papers

2024

Harnessing Symmetry Breaking in Soft Robotics: A Novel Approach for Underactuated Fingers

Ryman Hashem, Toby Howison, Agostino Stilli, Danail Stoyanov, Weiliang Xu, Fumiya Iida

IROS 2024poster

Soft robotics, an emerging domain in modern robotics, introduces innovative possibilities alongside challenges in controllability, particularly with multi-degree inflatable actuators. We present a novel manipulation method using underactuated soft fingers that addresses these challenges by harnessin…

Cited by 0 Source ↗Scholar ↗

2020

Augmenting Self-Stability: Height Control of a Bernoulli Ball via Bang-Bang Control

Toby Howison, Fabio Giardina, Fumiya Iida

ICRA 2020poster

Mechanical self-stability is often useful for controlling systems in uncertain and unstructured environments because it can regulate processes without explicit state observation or feedback computation. However, the performance of such systems is often not optimised, which begs the question how thei…

Cited by 5 Source ↗Scholar ↗