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Fast Probabilistic 3-D Curvature Proprioception with a Magnetic Soft Sensor
This paper introduces a cost-effective and high speed approach for predicting a 2-DOF bend parameterization for soft bodies through a …
Mason Mitchell
,
Forrest Hurley
,
Cagdas D Onal
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DOI
SLInKi: State Lattice based Inverse Kinematics-A Fast, Accurate, and Flexible IK Solver for Soft Continuum Robot Manipulators
Soft continuum robots offer unique properties that cannot be achieved using rigid linkage-based robotic bodies. Their dexterity and …
Shou-Shan Chiang
,
Hao Yang
,
Erik Skorina
,
Cagdas D Onal
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DOI
Motion Planning and Iterative Learning Control of a Modular Soft Robotic Snake
Snake robotics is an important research topic with a wide range of applications, including inspection in confined spaces, …
Ming Luo
,
Zhenyu Wan
,
Yinan Sun
,
Erik Skorina
,
Weijia Tao
,
Fuchen Chen
,
Lakshay Gopalka
,
Hao Yang
,
Cagdas D Onal
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DOI
Ori-Vent: Design and Prototyping of Accessible and Portable Origami-Inspired Ventilators
The COVID-19 pandemic is responsible for hundreds of thousands of deaths worldwide and remains a challenge that humanity must still …
Ahat Abudula
,
Shou-Shan Chiang
,
Erik Skorina
,
Cagdas D Onal
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DOI
Kinematic Optimization of an Underactuated Anthropomorphic Prosthetic Hand
The human hand serves as an inspiration for robotic grippers. However, the dimensions of the human hand evolved under a different set …
Ann Marie Votta
,
Sezen Yagmur Gunay
,
Brian Zylich
,
Erik Skorina
,
Raagini Rameshwar
,
Deniz Erdogmus
,
Cagdas D Onal
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DOI
Learning to Locomote with Artificial Neural-Network and CPG-based Control in a Soft Snake Robot
In this paper, we present a new locomotion control method for soft robot snakes. Inspired by biological snakes, our control …
Xuan Liu
,
Renato Gasoto
,
Ziyi Jiang
,
Cagdas D Onal
,
Jie Fu
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Salamanderbot: A soft-rigid composite continuum mobile robot to traverse complex environments
Soft robots are theoretically well-suited to rescue and exploration applications where their flexibility allows for the traversal of …
Yinan Sun
,
Yuqi Jiang
,
Hao Yang
,
Louis-Claude Walter
,
Junius Santoso
,
Erik Skorina
,
Cagdas D Onal
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Discretized Modeling of Planar Pneumatic Continuum Manipulators
Soft Robots, robots that are constructed out of soft materials or using compliant actuation methods, can operate safely in complex …
Erik Skorina
,
Cagdas D Onal
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DOI
Design and Analysis of an Origami Continuum Manipulation Module with Torsional Strength
This paper presents an origami-inspired cable-driven continuum manipulator module that offers low-cost, low-volume deployment, light …
Junius Santoso
,
Ming Luo
,
Erik Skorina
,
Cagdas D Onal
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