Human-centered Control of a Growing Soft Robot for Object Manipulation

Fabio Stroppa; Ming Luo; Giada Gerboni; Margaret M. Coad; Julie M. Walker; Allison M. Okamura

Human-centered Control of a Growing Soft Robot for Object Manipulation

Robotics 2019-10-30 v1

Authors: Fabio Stroppa , Ming Luo , Giada Gerboni , Margaret M. Coad , Julie M. Walker , Allison M. Okamura

Abstract

We present a user-friendly interface to teleoperate a soft robot manipulator in a complex environment. Key components of the system include a manipulator with a grasping end-effector that grows via tip eversion, gesture-based control, and haptic display to the operator for feedback and guidance. In the initial work, the operator uses the soft robot to build a tower of blocks, and future works will extend this to shared autonomy scenarios in which the human operator and robot intelligence are both necessary for task completion.

Keywords

teleoperation modular robotics robot grasping

Cite

@article{arxiv.1910.13000,
  title  = {Human-centered Control of a Growing Soft Robot for Object Manipulation},
  author = {Fabio Stroppa and Ming Luo and Giada Gerboni and Margaret M. Coad and Julie M. Walker and Allison M. Okamura},
  journal= {arXiv preprint arXiv:1910.13000},
  year   = {2019}
}

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