Simultaneous Localization and Mapping is a fundamental problem for robots interacting with a novel environment and has been a densely studied area of research for several decades. The modern paradigm of feature extraction and matching coupled with advancements in sensor technology have allowed robots to achieve sub meter localization accuracy over kilometer long trajectories in […]
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GRASP
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Modern robots embody power and precision control, yet as robots undertake tasks that apply forces on humans this power brings risk of injury. Soft robotic actuators use deformation to produce smooth, continuous motions and conform to delicate objects while imparting forces capable of safely pushing humans. This thesis presents strategies for the design, modeling, and […] |
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