Publications

You can also find my articles on my Google Scholar profile.

Journal Articles

Modeling and Experimental Verification of a Continuous Curvature-Based Soft Growing Manipulator

Published in IEEE Robotics and Automation Letters, 2024

This paper is about investigating a potential solution to address the limitations of precise control for a tendon-driven soft robot. Additionally, we provide an experimental verification of its inverse kinematic model verified by using three positions, resulting in errors of less than 8%.

Recommended citation: J. Allen, R. Dorosh, C. Ninatanta, A. Allen, L. Shui, K. Yoshida, J. Luo, M. Luo, 'Modeling and Experimental Verification of a Continuous Curvature-Based Soft Growing Manipulator,' in IEEE Robotics and Automation Letters, vol. 9, no. 4, pp. 3594-3600, April 2024
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Conference Papers

Design and Evaluation of a Lightweight Soft Electrical Apple Harvesting Gripper

Published in 2024 IEEE 7th International Conference on Soft Robotics (RoboSoft), 2024

This paper is on the design and evaluation of a soft gripper for apple harvesting. At a weight of 0.306kg and height of 0.219m, the gripper achieved a successful harvesting rate of 87.5%.

Recommended citation: C. Ninatanta et al., "Design and Evaluation of a Lightweight Soft Electrical Apple Harvesting Gripper," 2024 IEEE 7th International Conference on Soft Robotics (RoboSoft), San Diego, CA, USA, 2024, pp. 479-484, doi: 10.1109/RoboSoft60065.2024.10521995.
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Design, Modeling, and Control of a Low-Cost and Rapid Response Soft-Growing Manipulator for Orchard Operations

Published in IROS 2023, 2023

This paper introduces a novel soft-growing manipulator arm for apple harvesting. The platform features the ability to extend up to 1.2m at a maximum speed of 0.27m/s. Additionally, the arm can operate with a terminal payload of up to 1.4kg.

Recommended citation: Ryan Dorosh, Justin Allen, Zixuan He, Christopher Ninatanta, Jack Coleman, Jack Spieker, Ethan Tuck, Jordan Kurtz, Qin Zhang, Matthew D. Whiting, Jiecai Luo, Manoj Karkee, and Ming Luo, “Design, Modeling, and Control of a Low-Cost and Rapid Response Soft-Growing Manipulator for Orchard Operations”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (2023)
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Abstracts

Design of a Lightweight Soft Electrical Apple Harvesting Gripper

Published in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), 2023

This paper is on the design of a lightweight soft gripper for apple harvesting.

Recommended citation: C. Ninatanta, J. Pilgrim, R. Dorosh, and M. Luo, “Design of a lightweight soft electrical apple harvesting gripper,” in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst. (IROS), 2023.
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Chris Ninatanta