Origami Continuum Robot
The continuum robot, developed as part of my dissertation, is torsionally stiff yet compliant in bending direction.
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portfolio
AlphaPasso
AlphaZero deep reinforcement learning model for playing the Passo board game.
publications
Humanoids at the assistive robot competition RoboWaiter 2012
Published in Robot Intelligence Technology and Applications 2012, 2013
Humanoid robot performance at RoboWaiter robotics challenge.
Recommended citation: Verner, I.M., Cuperman, D., Cuperman, A., Ahlgren, D., Petkovsek, S., Burca, V., Poudel, B. and Santoso, J., 2013. Humanoids at the assistive robot competition RoboWaiter 2012. In Robot Intelligence Technology and Applications 2012: An Edition of the Presented Papers from the 1st International Conference on Robot Intelligence Technology and Applications (pp. 763-774). Springer Berlin Heidelberg.
Design and analysis of an origami continuum manipulation module with torsional strength
Published in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017
Design and characterization of torsionally stiff origami continuum module.
Recommended citation: Santoso, J., Skorina, E.H., Luo, M., Yan, R. and Onal, C.D., 2017, September. Design and analysis of an origami continuum manipulation module with torsional strength. In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 2098-2104). IEEE.
OriSnake: Design, Fabrication, and Experimental Analysis of a 3-D Origami Snake Robot
Published in IEEE Robotics and Automation Letters, 2018
A snake robot based on origami continuum modules.
Recommended citation: Luo, M., Yan, R., Wan, Z., Qin, Y., Santoso, J., Skorina, E.H. and Onal, C.D., 2018. OriSnake: Design, fabrication, and experimental analysis of a 3-D origami snake robot. IEEE Robotics and Automation Letters, 3(3), pp.1993-1999.
Single chamber multiple degree-of-freedom soft pneumatic actuator enabled by adjustable stiffness layers
Published in Smart Materials and Structures, IOP Publishing, 2019
Soft pneumatic actuator with variable stiffness capability enabled by shape memory polymer.
Recommended citation: Santoso, J., Skorina, E.H., Salerno, M., de Rivaz, S., Paik, J. and Onal, C.D., 2019. Single chamber multiple degree-of-freedom soft pneumatic actuator enabled by adjustable stiffness layers. Smart materials and structures, 28(3), p.035012.
Sim-to-real Transferable Object Classification through Touch-based Continuum Manipulation
Published in International Symposium on Experimental Robotics (ISER). Springer, 2020
Experimental study on sim-to-real object classification capability of continuum robot enabled through touch sensing.
Recommended citation: Mao, H., Santoso, J., Onal, C. and Xiao, J., 2020. Sim-to-real transferable object classification through touch-based continuum manipulation. In Proceedings of the 2018 International Symposium on Experimental Robotics (pp. 280-289). Springer International Publishing.
Salamanderbot: A soft-rigid composite continuum mobile robot to traverse complex environments
Published in 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020
Salamander robot constructed using origami continuum modules.
Recommended citation: Sun, Y., Jiang, Y., Yang, H., Walter, L.C., Santoso, J., Skorina, E.H. and Onal, C., 2020, May. Salamanderbot: A soft-rigid composite continuum mobile robot to traverse complex environments. In 2020 IEEE International Conference on Robotics and Automation (ICRA) (pp. 2953-2959). IEEE.
An Origami Continuum Robot Capable of Precise Motion Through Torsionally Stiff Body and Smooth Inverse Kinematics
Published in Soft Robotics Journal, 2020
Origami Continuum Robot: Design, motion planning, and applications.
Recommended citation: Santoso, J. and Onal, C.D., 2021. An origami continuum robot capable of precise motion through torsionally stiff body and smooth inverse kinematics. Soft Robotics, 8(4), pp.371-386.
talks
Talk 1 on Relevant Topic in Your Field
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Conference Proceeding talk 3 on Relevant Topic in Your Field
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teaching
Teaching experience 1
Undergraduate course, University 1, Department, 2014
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Teaching experience 2
Workshop, University 1, Department, 2015
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