Publications

This page provides information on full-length articles.

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Short-form conference and workshop abstracts.
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Last updated: May 2025

Suction

A Multi-Chamber Smart Suction Cup for Adaptive Gripping and Haptic Exploration

Abstract: “We present a novel robot end-effector for gripping and haptic exploration. Tactile sensing through suction flow monitoring is applied [More…]

IEEE International Conference on Intelligent Robots and Systems (IROS), Dec 2021
Tae Myung Huh, Kate Sanders, Michael Danielczuk, Monica Li, Ken Goldberg, Hannah S. Stuart

Tactile sensing based on fingertip suction flow for submerged dexterous manipulation

Abstract: “The ocean is a harsh and unstructured environment for robotic systems; high ambient pressures, saltwater corrosion and low-light conditions [More…]

2020 IEEE International Conference on Robotics and Automation (ICRA), Sept 2020
Philippe Nadeau, Michael Abbott, Dominic Melville and Hannah S. Stuart

Tunable Contact Conditions and Grasp Hydrodynamics Using Gentle Fingertip Suction

Abstract: “Gentle suction flow at the fingertips of a compliant hand can enhance object acquisition and increase the robustness of [More…]

IEEE Transactions on Robotics, Nov 2018
H.S. Stuart, S. Wang, M.R. Cutkosky

Suction helps in a pinch: Improving underwater manipulation with gentle suction flow

Abstract: “Pinching is an important capability for mobile robots handling small items or tools. Successful pinching requires force-closure and, in underwater [More…]

IROS 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Dec 2015
H.S. Stuart, M. Bagheri, S. Wang, H. Barnard, A.L. Sheng, M. Jenkins, M.R. Cutkosky

A compliant underactuated hand with suction flow for underwater mobile manipulation

Abstract: “Fingertip suction is investigated using a compliant, underactuated, tendon-driven hand designed for underwater mobile manipulation. Tendon routing and joint [More…]

ICRA 2014 IEEE International Conference on Robotics and Automation , Sept 2014
H.S. Stuart, S. Wang, B. Gardineer, D.L. Christensen, D.M. Aukes, M.R. Cutkosky