Resilient Task Planning and Execution for Reactive Soft Robots
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Soft robots are a class of robot that utilize compliant actuators that allow for novel traversal behaviors. However, these actuators can be less robust than traditional metal and wire robotic components. To correct for this, I worked on a project that sought to use novel sensor based control elements to inform the robot when an actuator had been damaged, and steer the robot to a location where the damage could be repaired or the actuator could be replaced. My primary work on this project was the design and fabrication of the actuators/robots and collecting and analyzing sensor failure data
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