Matches in SemOpenAlex for { <https://semopenalex.org/work/W4312430907> ?p ?o ?g. }
Showing items 1 to 76 of
76
with 100 items per page.
- W4312430907 abstract "Soft, growing robots have the ability to conform to their environment and traverse highly curved paths that would typically prove challenging for other robot designs. As they navigate through these constrained and cluttered environments, there is often significant interaction between the robot and its surroundings. In this work, we propose a method to enable tactile perception for growing robots, which utilizes commercially available, flexible sensors that measure the curvature of the robot shape at multiple locations. Our method consists of both a pouch design to enable seamless integration of the sensors with the material of the growing robot, as well as an algorithm for determining the location of point contacts along the robot body. We validate our proposed approach experimentally using a 3.5 cm robot that can grow to be 53 cm long. We show that we can localize a force applied to various locations along its length with an average error of <tex xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>$3.444pm1.38$</tex> cm when the robot is unactuated and <tex xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>$4.62pm 0.95$</tex> cm when the robot is actuated. Additionally, we characterize the minimum distance required for our tactile sensing approach to discriminate between two separate contact points along the robot body to be 23.5 cm. Finally, we apply our method to a growing robot exploring an unknown environment and show that we are able to effectively determine when and where the growing robot collides with an unknown obstacle." @default.
- W4312430907 created "2023-01-04" @default.
- W4312430907 creator A5034247048 @default.
- W4312430907 creator A5062908949 @default.
- W4312430907 creator A5064903569 @default.
- W4312430907 date "2022-10-23" @default.
- W4312430907 modified "2023-10-16" @default.
- W4312430907 title "Tactile Perception for Growing Robots via Discrete Curvature Measurements" @default.
- W4312430907 cites W2111355923 @default.
- W4312430907 cites W2737491236 @default.
- W4312430907 cites W2890088732 @default.
- W4312430907 cites W2890132254 @default.
- W4312430907 cites W2896056663 @default.
- W4312430907 cites W2946871295 @default.
- W4312430907 cites W2966892768 @default.
- W4312430907 cites W3003868926 @default.
- W4312430907 cites W3006492429 @default.
- W4312430907 cites W3008895125 @default.
- W4312430907 cites W3042873437 @default.
- W4312430907 cites W3091557774 @default.
- W4312430907 cites W3106042088 @default.
- W4312430907 cites W3132227494 @default.
- W4312430907 cites W3150728867 @default.
- W4312430907 cites W3177745642 @default.
- W4312430907 cites W3180843459 @default.
- W4312430907 cites W3183244442 @default.
- W4312430907 doi "https://doi.org/10.1109/iros47612.2022.9981273" @default.
- W4312430907 hasPublicationYear "2022" @default.
- W4312430907 type Work @default.
- W4312430907 citedByCount "1" @default.
- W4312430907 countsByYear W43124309072023 @default.
- W4312430907 crossrefType "proceedings-article" @default.
- W4312430907 hasAuthorship W4312430907A5034247048 @default.
- W4312430907 hasAuthorship W4312430907A5062908949 @default.
- W4312430907 hasAuthorship W4312430907A5064903569 @default.
- W4312430907 hasConcept C13280743 @default.
- W4312430907 hasConcept C154945302 @default.
- W4312430907 hasConcept C176809094 @default.
- W4312430907 hasConcept C195065555 @default.
- W4312430907 hasConcept C205649164 @default.
- W4312430907 hasConcept C2524010 @default.
- W4312430907 hasConcept C28719098 @default.
- W4312430907 hasConcept C31972630 @default.
- W4312430907 hasConcept C33923547 @default.
- W4312430907 hasConcept C41008148 @default.
- W4312430907 hasConcept C46722567 @default.
- W4312430907 hasConcept C90509273 @default.
- W4312430907 hasConceptScore W4312430907C13280743 @default.
- W4312430907 hasConceptScore W4312430907C154945302 @default.
- W4312430907 hasConceptScore W4312430907C176809094 @default.
- W4312430907 hasConceptScore W4312430907C195065555 @default.
- W4312430907 hasConceptScore W4312430907C205649164 @default.
- W4312430907 hasConceptScore W4312430907C2524010 @default.
- W4312430907 hasConceptScore W4312430907C28719098 @default.
- W4312430907 hasConceptScore W4312430907C31972630 @default.
- W4312430907 hasConceptScore W4312430907C33923547 @default.
- W4312430907 hasConceptScore W4312430907C41008148 @default.
- W4312430907 hasConceptScore W4312430907C46722567 @default.
- W4312430907 hasConceptScore W4312430907C90509273 @default.
- W4312430907 hasFunder F4320306076 @default.
- W4312430907 hasLocation W43124309071 @default.
- W4312430907 hasOpenAccess W4312430907 @default.
- W4312430907 hasPrimaryLocation W43124309071 @default.
- W4312430907 hasRelatedWork W1973670979 @default.
- W4312430907 hasRelatedWork W2120408833 @default.
- W4312430907 hasRelatedWork W2121558387 @default.
- W4312430907 hasRelatedWork W2161103583 @default.
- W4312430907 hasRelatedWork W2207293383 @default.
- W4312430907 hasRelatedWork W2906841975 @default.
- W4312430907 hasRelatedWork W4206748793 @default.
- W4312430907 hasRelatedWork W4210400012 @default.
- W4312430907 hasRelatedWork W4312430907 @default.
- W4312430907 hasRelatedWork W4383337613 @default.
- W4312430907 isParatext "false" @default.
- W4312430907 isRetracted "false" @default.
- W4312430907 workType "article" @default.