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arXiv · 1910.13000

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
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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.

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Fabio Stroppa, Ming Luo, Giada Gerboni, Margaret M. Coad, Julie M. Walker, Allison M. Okamura. 2019-10-28. Human-centered Control of a Growing Soft Robot for Object Manipulation. https://arxiv.org/abs/1910.13000

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