Ctrl-P: Control Pressure (latest)
By Clark Teeple
A custom pneumatic control system featuring smooth control of pressure at a high bandwidth.
This work was done as part of a research project at the Harvard Microrobotics Lab. Our goal was to build a system capable of smooth control of pressure to drive our custom soft robotic hands.
Publications using this system:
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“SoMoGym: A toolkit for developing and evaluating controllers and reinforcement learning algorithms for soft robots,” M.A. Graule, T.P. McCarthy, C.B. Teeple, J. Werfel, and R.J. Wood, IEEE Robotics and Automation Letters, 2022
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“Controlling Palm-Object Interactions via Friction for Enhanced In-Hand Manipulation,” C.B. Teeple, B. Aktas, M.C. Yuen, G.R. Kim, R.D. Howe, and R.J. Wood, IEEE Robotics and Automation Letters, 2022
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“Digit Arrangement for Soft Robotic Hands: Enhancing Dexterous In-Hand Manipulation,” C.B. Teeple, R.C. St. Louis, M.A. Graule, and R.J. Wood, International Conference on Intelligent Robots and Systems (IROS), 2021
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“An Active Palm Enhances Dexterity for Soft Robotic In-Hand Manipulation,” C.B. Teeple, G.R. Kim, M.A. Graule, and R.J. Wood, International Conference on Robotics and Automation (ICRA), 2021
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“A Dexterous Soft Robotic Hand for Delicate In-Hand Manipulation,” S. Abondance, C.B. Teeple, and R.J. Wood, IEEE Robotics and Automation Letters, 2020
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“Multi-Segment Soft Robotic Fingers Enable Robust Precision Grasping,” C.B. Teeple, T.N. Koutros, M.A. Graule, and R.J. Wood, International Journal of Robotics Research, 2020
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“Ultragentle Manipulation of Delicate Structures using a Soft Robotic Gripper,” N.R. Sinatra, C.B. Teeple, D.M. Vogt, K.K. Parker, D.F. Gruber, and R.J. Wood, Science Robotics, 2019 (uses a version modified for use with water pressure)