yusuke1997/dblp-id-title huggingface dataset:
Hydrogel-based soft pneumatic bending actuator with self-healing and proprioception capabilities
Design of Trimmed Helicoid Soft-Rigid Hybrid Robots
Enabling the control of a new degree of freedom by using anisotropic material on a 6-DOF parallel soft robot
Nutation Aids Heterogeneous Substrate Exploration in a Robophysical Root
Learning Low-Dimensional Strain Models of Soft Robots by Looking at the Evolution of Their Shape with Application to Model-Based Control
A Tendon-Driven Origami Hopper Triggered by Proprioceptive Contact Detection
Gaussian Process Dynamics Models for Soft Robots with Shape Memory Actuators
High strength bubble artificial muscles for walking assistance
A Feedback-Controlled Jamming Approach for Variable-Stiffness Actuators in Untethered Soft Robots
Development of a Three-Fingered Jamming Gripper for Corresponding to the Position Error and Shape Difference
A Soft Robotic Wrist Orthosis Using Textile Pneumatic Actuators For Passive Rehabilitation
Mechanical Modeling and Optimal Model-based Design of a Soft Pneumatic Actuator
Evolving variable stiffness fiber patterns for multi-shape robotic sheets
Robo-Squid: Experimental investigation of pulsed jet propulsion based on magnetohydrodynamics
Design and 3D Printing of Soft Bending Sensors with TPMS Structures
Differentiable Surrogate Models for Design and Trajectory Optimization of Auxetic Soft Robots
Real-time Estimator of Actuator Control and Health (REACH) on an Eel-Inspired Soft Robot
Starfish-Inspired Scooping Soft Gripper for Cluster Grasping Applications
Control and Analysis of a Multimodal Twisted-Winching String Actuator with Embodied Sensing
Variable Kinematics enabled by Layer Jamming Transition in a Soft Bending Actuator
Lost-Core Injection Molding of Fluidic Elastomer Actuators for the Fabrication of a Modular Eel-Inspired Soft Robot
Soft Passive Swimmer Optimization: From Simulation to Reality Using Data-Driven Transformation
Design and Analysis of Origami-Inspired, Large-Elongation, Reconfigurable Soft Robot Modules
Reduced finite element modelling and closed-loop control of pneumatic-driven soft continuum robots
Loco-sheet: Morphing Inchworm Robot Across Rough-terrain
Replicating Human Anatomy with Vision Controlled Jetting - A Pneumatic Musculoskeletal Hand and Forearm
A flexible sensor for soft-bodied robots based on electrical impedance tomography
Development of 3D Printed Structure that Visualizes Bending and Compression Deformations for Soft-bodied Robots
Multimaterial 3D Nanoprinting of a 2 Fr Soft Robotic Microcatheter for Transarterial Chemoembolization of Liver Cancer
EPAM: Eversive Pneumatic Artificial Muscle
Generalized Delta Mechanisms from Soft Actuators
Soft Robotic Locomotion by Peristaltic Waves in Granular Media
Self-Sensing, Stretchable, Active Circuit Arrays: Liquid Metal Paste as a Combination Interconnect and Strain Sensor
Design and Characterization of a 3D Printed Soft Robotic Wrist Sleeve with 2 DoF for Stroke Rehabilitation
A 4 DOFs variable stiffness soft module
Worm-Like Mobile Robot Based on a Tensegrity Structure *
Automated design of pneumatic soft grippers through design-dependent multi-material topology optimization
Design Parameters for Stacked-Ribbon Shape-Memory Alloy Bending Actuators*
Robotic Touch: Classification of Materials for Manipulation and Walking
The Jamming Donut: A Free-Space Gripper Based on Granular Jamming
Closed-Loop Control of Robotic Cutting through Tactile Force Estimation
Plenary speakers: Soft robots as an E-kagen artifact
Design and Characterisation of Cross-sectional Geometries for Soft Robotic Manipulators with Fibre-reinforced Chambers
A Soft Actuator with Tunable Mechanical Configurations for Object Grasping Based on Sensory Feedback
Contact-Rich Soft-Rigid Robots Inspired by Push Puppets
M-SAM: Miniature and Soft Artificial Muscle-Driven Wearable Robotic Fabric Exosuit for Upper Limb Augmentation
Physics-Informed Neural Network for Scalable Soft Multi-Actuator Systems
Designing Kresling Origami for Personalised Wrist Orthosis
Design, Characterization, and Dynamic Modeling of BEAST: a Bistable Elastomeric Actuator for Swift Tasks
Muscle textile to implement soft suit to shift balancing posture of the body
Eversion and Retraction of a Soft Robot Towards the Exploration of Coral Reefs
Automated Synthesis of Bending Pneumatic Soft Actuators
A New Exploration Strategy for Soft Robots Based on Proprioception
Controllable Wound Closure in Artificial Skins using Dual-Layer Bioinspired Mechanism
Design and development of a novel soft valve and energy-storage mechanism for high-power underwater robotic pulse-jet propulsion
Material Characterization for Magnetic Soft Robots
Design Optimization of a Soft Gripper Using Self-Contacts
High Force Generation Using Inflatable Toroidal Soft Robot Actuators
Development and Characterization of a Soft Valve for Automatic Fault Isolation in Inflatable Soft Robots
Paint-a-Pouch: Mask-Based Fabrication of Pouch Actuators for Pneumatically Actuated Soft Robots
Policy Adaptation using an Online Regressing Network in a Soft Robotic Arm
ReRobot: Recycled Materials for Trustworthy Soft Robots
Closing the Loop with Liquid-Metal Sensing Skin for Autonomous Soft Robot Gripping
A Simulation-Based Toolbox to Expedite the Digital Design of Bellow Soft Pneumatic Actuators
Data-driven Simulation Framework for Expressive Piano Playing by Anthropomorphic Hand with Variable Passive Properties
Sensorized Phantom For Characterizing Large Area Deformation of Soft Bodies for Medical Applications
Compliant electric actuators based on handed shearing auxetics
Reconfigurable Soft Capacitive Sensor with Variable Stiffness Ring
Kinked Air Channel Enables Retraction of Small-Scale Soft Everting Robots
FEM Based Workspace Estimation for Soft Robots: a Forward-Backward Interval Analysis Approach
Symmetric Deform-Ability Pressure-Vacuum Actuator via Single Channel
Improving the Loading and Sensing Performance of a Soft Actuator Using an Internal Spine
Compression behavior of typical silicone rubbers for soft robotics applications at elevated temperatures
Modular simulation framework for Electro-ribbon Actuators
A Polyurethane-based Electrospun Nanofiber Bundle Soft Actuator: Fabrication, Modeling, and Control
A Pneumatic Anchoring Mechanism for Improved Stability in Soft Magnetic Manipulators for Surgery
Multi-sensory fusion of wearable sensors for automatic grasping and releasing with soft-hand exoskeleton
Analysis of Soft Kirigami Unit Cells for Tunable Stiffness Architectures
Simplifying Soft Robots Through Adhesive-backed Fabrics
Effects of Compliance on Path-Tracking Performance of a Miniature Robot
Effect of Jet Coordination on Underwater Propulsion with the Multi-Robot SALP System
Metamaterial-Reinforced Origami Soft Actuators: Reconfigurable Stiffness and Deformation
Near-optimal Smooth Path Planning for Multisection Continuum Arms
Lobster-inspired Finger Surface Design for Grasping with Enhanced Robustness
Sensing soft robots' shape with cameras: an investigation on kinematics-aware SLAM
Flapping at resonance: Realization of an electroactive elastic thorax
Variable compliance and geometry regulation of Soft-Bubble grippers with active pressure control
Kirigami-inspired Flexible Strain Sensor for Dynamic Inflation Surface Applications
U-turning an agile robotic cube by a soft dielectric elastomer resonator
A paper-based wall-climbing robot enabled by electrostatic adhesion
Enhancing the Performance of Pneu-Net Actuators Using a Torsion Resistant Strain Limiting Layer
Designing Fluid-Exuding Cartilage for Biomimetic Robots Mimicking Human Joint Lubrication Function
Toward Long-Lasting Large-Scale Soft Robots: The Durability Challenge in Architectured Materials
SCoReR: Sensorized Collision Resilient Aerial Robot
Helical actuation on a soft inflated robot body
Sensitivity Analysis for 3D Printed Soft Pneumatic Actuators from 2D Origami Patterns to Functional Systems
Fluidical bending actuator designed for soft octopus robot tentacle
Characterization of a Class of Soft Bending Arms
Design and Modelling of Electrical Impedance Tomography-based 3D-Printed Patterned Soft Tactile skins
Toward a bio-inspired variable-stiffness morphing limb for amphibious robot locomotion
Proprioceptive Sensing of Soft Tentacles with Model Based Reconstruction for Controller Optimization
Design, fabrication and experimental analysis of a 3-D soft robotic snake
SoftTract: A Novel Peristaltic Design for Improving Control and Performance of GI Tract Simulants
Cosserat Rod Modeling and Validation for a Soft Continuum Robot with Self-Controllable Variable Curvature
Interoperable Models for Dynamics and Shape Tracking of Soft Fingers
State Estimation of a Soft Robotic Finger with Dynamic Effect of Parameter Uncertainty
Signalling Emotions with a Breathing Soft Robot
Measuring a Soft Resistive Strain Sensor Array by Solving the Resistor Network Inverse Problem
Real- Time Grocery Packing by Integrating Vision, Tactile Sensing, and Soft Fingers
Design and Characterization of Viscoelastic McKibben Actuators with Tunable Force-Velocity Curves
An Approach for 3D Microprinting Soft Robotic Surgical Tools at 1.5 French Length Scales for Endovascular Interventions
Aerosol Jet Printing for the Manufacture of Soft Robotic Devices
Measuring Morphological Computation in Turtle-Inspired Multi-Modal Robotic Locomotion
A Reconfigurable Crawling Robot Driven by Electroactive Artificial Muscle
Design of a bi-segmented soft actuator with hardware encoded quasi-static inflation sequence
Miniaturised Soft Manipulators with Reinforced Actuation Chambers on the Sub-Centimetre Scale
Learning-based Position and Stiffness Feedforward Control of Antagonistic Soft Pneumatic Actuators using Gaussian Processes
Low-pressure Soft Inflatable Joint Driven by Inner Tendon
A Soft Durometer for Tactile Sensing
Precise In-Hand Manipulation of Soft Objects using Soft Fingertips with Tactile Sensing and Active Deformation
Echo state property and memory in octopus-inspired soft robotic arm
Easy Cleaning of 3D SLA/DLP Printed Soft Fluidic Actuators with Complex Internal Geometry
Shape Memory Silicone Using Phase-Changing Inclusions
A petal-array capacitive tactile sensor with micro-pin for robotic fingertip sensing
A low-cost experimental rig for multi-DOF unsteady thrust measurements of aquatic bioinspired soft robots
Bi-modal control of vacuum-powered soft pneumatic actuators with embedded liquid metal-based strain sensitive skin
Tiled Auxetic Cylinders for Soft Robots
Soft Magnetically Steerable Suction Device for Endoscopic Endonasal Brain Tumor Extraction
Low profile stretch sensor for soft wearable robotics
A systematically derived design for a modular pneumatic soft bending actuator
A Modular Pneumatic Soft Gripper Design for Aerial Grasping and Landing
Release Chamber Enables Suction Cup to Delaminate and Harvest Fluid
Climbing mini-machines using plant-inspired micropatterned adhesive wheels fabricated via two-photon lithography
A Lightweight, Soft Wearable Sleeve for Rehabilitation of Forearm Pronation and Supination
Evaluation and Comparison of Reversible Water Electrolysis as a Means for Pneumatic Actuation
Self-reconfiguring Soft Modular Cellbots
Sea Shell Bioinspired Variable Stiffness Mechanism Enabled by Hybrid Jamming Transition
Kinematic Modeling of a Soft Everting Robot from Inflated Beam Theory
Condensed Semi-Implicit Dynamics for Trajectory Optimization in Soft Robotics
Optimising Soft Robot Designs through an Integrated Environment
Flexible Wearable Joint Motion Sensor Based On Multi-Wire Displacement
Scalable sim-to-real transfer of soft robot designs
Merging Variable Stiffness Fiber Patterns on Multi-Shape Robotic Sheets
Learning Control Strategy in Soft Robotics Through a Set of Configuration Spaces
Analytic solutions for the static equilibrium configurations of externally loaded cantilever soft robotic arms
Bistable Actuation in Multi-DoF Soft Robotic Modules Driven by Rolled Dielectric Elastomer Actuators
Modular Platform for the Exploration of Form-Function Relationships in Soft Swimming Robots
3rd IEEE International Conference on Soft Robotics, RoboSoft 2020, New Haven, CT, USA, May 15 - July 15, 2020
Stretchable Capacitive and Resistive Strain Sensors: Accessible Manufacturing Using Direct Ink Writing
Programmable Fluidic Networks Design for Robotic Origami Sequential Self-Folding
An Optical Shape Sensor for Integration in Soft Grippers
Theoretical Model for Controlling Synchronization Transition of Chemo-Mechanical Oscillating Gels
Sensorizing a Compression Sleeve for Continuous Pressure Monitoring and Lymphedema Treatment Using Pneumatic or Resistive Sensors
Tailor-made smart glove for robot teleoperation, using printed stretchable sensors
Design of a Flexible Robot Arm for Safe Aerial Physical Interaction
Evaluation of design aspects of modular pneumatic soft robotic endoscopes
Active Stiffening for Vine Robots via Axially Stacked Pneumatic Pouches
ReSoft Gripper: A reconfigurable soft gripper with monolithic fingers and differential mechanism for versatile and delicate grasping
Hybrid Soft Robots Incorporating Soft and Stiff Elements
Development of a Sensorized Hybrid Gripper to Evaluate Grasping Quality
A leaf-inspired robot combining embroidered structure with ion-induced actuation
Adaptive Self-sealing Soft Robotic Face Mask (SRFM) with Particle Jamming
Soft Robotic Fingers with Embedded Ionogel Sensors and Discrete Actuation Modes for Somatosensitive Manipulation
Soft Fluidic Closed-Loop Controller for Untethered Underwater Gliders
All-soft material system for strong soft actuators
Shape estimation based on Kalman filtering: Towards fully soft proprioception
OobSoft Gripper: A Reconfigurable Soft Gripper Using Oobleck for Versatile and Delicate Grasping
Bioinspired setae for soft worm robot locomotion
3D-Printed Variable-Length Magnetically Steered Catheter Tip for Enhanced Access in Aneurysm Interventions
HaptOGrasp: A Soft Haptic Origami Grasper for Rendering Grip Force Feedback
Design of a Lightweight Inflatable Sensing Sleeve for Increased Adaptability and Safety of Legged Robots
Soft Robotic Actuator Leveraging Switchable Strain-Limiting Structures for Tumor Biopsy and Ablation in MRI
Phase Transition-Based Portable Pump for Modular and Reconfigurable Soft Robotic Devices
Dielectrophoretic Elastomer Actuators for Soft Pneumatic Pumps
Bio-Inspired Miniature Soft Robots Fueled By Light
Tactile sensing system with wrinkle's morphological change: Modeling
Variable stiffness strip with strain sensing for wearable robotics
IEEE International Conference on Soft Robotics, RoboSoft 2018, Livorno, Italy, April 24-28, 2018
Design and Fabrication Workflow for Vertebrate Soft Robots
Real-Time Pressure Estimation and Localisation with Optical Tomography-inspired Soft Skin Sensors
Soft Robot Localization Using Distributed Miniaturized Time-of-Flight Sensors
Deployable Cuboctahedrons for Adaptive Space Infrastructure
Comparing and Configuring Soft Tendon Designs for Variable Stiffness Actuators on a Robot Arm
Transfer learning for accurate modeling and control of soft actuators
Toward Shape Optimization of Soft Robots
Control of a Hyper-Redundant Robot for Quality Inspection in Additive Manufacturing for Construction
Non-Contact Manipulation of Objects in Fluid with Soft Robots Through Behavioral Primitives and Finite State Machine
Learning Contact Forces in Human-Wearable-Robot Interaction Using Morphological Computation
Design and Characterization of a Pneumatic Tunable-Stiffness Bellows Actuator
Transient Motions and Static Poses in Soft, Viscous-Driven Actuators
Wireless Capacitive Measurement Board for Wearable or Proprioceptive Applications
Optimization of the Initial Deformed Shape of a Circular Elastic Jumping Robot
A Semi-Active Control Method for Pneumatic Actuators with Evolutionary Algorithm
Functionally Multistage Engageable Structures for Fin Ray Soft Robotics Fingers *
Design and Characterization of a Miniature Hydraulic Power Supply for High-Bandwidth Control of Soft Robotics
Meta-Ori: monolithic meta-origami for nonlinear inflatable soft actuators
phloSAR: A Portable, High-Flow Pressure Supply and Regulator Enabling Untethered Operation of Large Pneumatic Soft Robots
Case study of a rapid prototyping method for optimizing soft gripper structures with integrated piezoresistive sensors
Cerebellum-inspired approach for adaptive kinematic control of soft robots
Programmable Switching of Fluids via Pre-Twisting
Buckling Elements for Elastomer Deformation
One-shot Learning Closed-loop Manipulation of Soft Slender Objects Based on a Planar Polynomial Curvature Model
Force sensing fingertip with soft optical waveguides for robotic hands and grippers
Tough, bendable and stretchable tactile sensors array for covering robot surfaces
A Wrapping Gripper for Packaging Chopped and Granular Food Materials
A decrease in impedance of monolithic activated carbon cloth electrodes at increased charge density
Development of an adaptable, soft robot with an aortic diameter sensor to modulate blood flow in an extreme biological environment
UV-Photomechanical MXene-Polymer Trilayer Actuator
Support localization strategy for growing robots aided by light perception inspired by climbing plants *
Design of High Torque Variable Stiffness Actuator with Fast Adjustment and Wide Range of Stiffness Using Lever and Parallel Mechanism
Soft Thermal Actuators with Embedded Liquid Metal Microdroplets for Improved Heat Management
Electroactive textile actuators for wearable and soft robots
Combining Thermoelectrics and Low Melting Point Alloys to Create Reconfigurable Stiff-Compliant Manipulators
Neuromorphic Closed-Loop Control of a Flexible Modular Robot by a Simulated Spiking Central Pattern Generator
Underwater Salp-Inspired Soft Structure Contraction with Twisted Coiled Actuators
Bayesian Optimization of Pneumatic Soft Grippers via Reconfigurable Modular Molds
Fishbone-inspired soft robotic glove for hand rehabilitation with multi-degrees-of-freedom
Path Planning for Continuum Arms in Dynamic Environments
A Soft Ionic Sensor for Simultaneous Pressure and Strain Measurements
Parametric curve-based State-Space Representation for Shape Control of Soft-Continuum Manipulators
Rapid energy release in inflatable soft actuators through reversible bond breaking
Robotic Experimental Platform for Analysing Elastohydrodynamics of Soft-Rigid Filaments
Dynamic Modeling of Soft-Material Actuators Combining Constant Curvature Kinematics and Floating-Base Approach
A Novel Soft Glove for Hand Tremor Suppression: Evaluation of Layer Jamming Actuator Placement
WHERE-Bot: a Wheel-less Helical-ring Everting Robot Capable of Omnidirectional Locomotion
Human Emotion-Mediated Soft Robotic Arts: Exploring the Intersection of Human Emotions, Soft Robotics and Arts
A Flexible Connector for Soft Modular Robots Based on Micropatterned Intersurface Jamming
Stiffness estimation of delicate objects using a soft haptic whisker
A Sustainable Development Framework for Soft Pneumatic Actuators that are: Biodegradable, Self-healable and Re-programmable
Classification of components of affective touch using rapidly-manufacturable soft sensor skins
Recycling-oriented fabrication of soft robots
Imitation Learning based Soft Robotic Grasping Control without Precise Estimation of Target Posture
Single and Bi-Layered 2-D Acoustic Soft Tactile Skin
A Humanoid Finger Joint Based on Two-way Shape Memory Alloy and Electrostatic Clutch
Multi-Layer Electrical Impedance Tomography Based Soft Tactile Skins
A Vision-Based Collocated Actuation-Sensing Scheme for a Compliant Tendon-Driven Robotic Hand
IEEE International Conference on Soft Robotics, RoboSoft 2019, Seoul, South Korea, April 14-18, 2019
Design and Validation of Tunable Stiffness Actuator using Soft-Rigid Combined Layer Jamming Mechanism
Force and Speed in a Soft Stewart Platform
Analyzing the Effect of Soft Arm Design on Obstacle Navigation through Collision
Bundling and Tumbling in Bacterial-Inspired Bi-Flagellated Soft Robots for Attitude Adjustment
Towards creating a flexible shape senor for soft robots
Characterising 3D-printed Soft Fin Ray Robotic Fingers with Layer Jamming Capability for Delicate Grasping
Soft Robots for Extreme Environments: Removing Electronic Control
Full-body Grasping Strategy for Planar Underactuated Soft Manipulators using Passivity-based Control
Embedded Optical Waveguide Sensors for Dynamic Behavior Monitoring in Twisted-Beam Structures
A robotic forearm orthosis using soft fabric-based helical actuators
An Elastomer-based Flexible Optical Force and Tactile Sensor
VENOM: Versatile, Adhesive, and Soft Material for Various Surface Adhesion
MultiTip: A multimodal mechano-thermal soft fingertip
Information Processing Capability of Soft Continuum Arms
BPActuators: Lightweight and Low-Cost Soft Actuators by Balloons and Plastics
FinFix: A Soft Gripper With Contact-Reactive Reflex for High-Speed Pick and Place of Fragile Objects
Precise bonding-free micromoulding of miniaturized elastic inflatable actuators
Evaluation of Internal Curvature on Suction Cup Performance
Cutting the Cord: Soft Haptic Devices without a Pressure Source
Validation of an Extensible Rod Model for Soft continuum Manipulators
Investigation of stiffness and mechanical property change capabilities of compliant 2D tensegrity grids for the application in soft robotics
Punyo-1: Soft tactile-sensing upper-body robot for large object manipulation and physical human interaction
A multi-material robotic finger with integrated proprioceptive and tactile capabilities produced with a circular process
A Computational Design Framework for Pressure-driven Soft Robots through Nonlinear Topology Optimization
Gripping Force Modeling of a Binding Hand
Dynamically Feasible Trajectory Generation for Soft Robots
Proprioceptive Origami Manipulator
Model Predictive Control for a Soft Robotic Finger with Stochastic Behavior based on Fokker-Planck Equation
Configurable Tendon Routing in a 3D-printed Soft Actuator for Improved Locomotion in a Multi-Legged Robot
Vacuum induced tube pinching enables reconfigurable flexure joints with controllable bend axis and stiffness
Bioinspired navigation in shape morphing micromachines for autonomous targeted drug delivery
Follow the dummy: Measuring the influence of a biomimetic robotic fish-lure on the collective decisions of a zebrafish shoal inside a circular corridor
Module-W: Reconfigurable Modular Robots Forming Compliant Structures
Finite Element Analysis of Magnetorheological Elastomers for Stiffness Variation in Soft Robots
HASEL Actuator Design for Out-of-Plane Bending: A Parametric Study of Planar Geometry
Soft wearable non-vibratory tactile displays
Underwater Soft Fin Flapping Motion with Deep Neural Network Based Surrogate Model
Effects of lateral undulation in granular medium burrowing with a peristaltic soft robot
Strain sensor-embedded soft pneumatic actuators for extension and bending feedback
Model-Based Control of Planar Piezoelectric Inchworm Soft Robot for Crawling in Constrained Environments
Mechanical assembly of soft deployable structures and robots
Multimodal Soft Robotic Actuator Modeling and Validation
Development of a Four-Bar Linkage Integrated with a Polypyrrole Actuator and a Resistive Sensor Toward Biomimetic Pleopods
BiFlu2: A Miniaturized Electro-Fluidic Circuit for All-On-Board Control of Hydraulically-Actuated Biorobotic Organs
Compliant Robotic Arm based on a Tensegrity Structure with x-shaped Members
A Soft Gripper for Automating Split Operation of Silkworm
Design, Fabrication, and Experimental Testing of a SMA-Actuated Soft Fin Inspired by a Cownose Ray
Multiscale Data-driven Models for Soft Robotic Actuators Based on Local Strain Fields
An addressable pneumatic regulator for distributed control of soft robots
Electro-Ribbon Muscles for Biomimetic Wing Flapping
Antagonistic Pneumatic Actuators with Variable Stiffness for Soft Robotic Applications
S-DOT: Soft Dot-Structured Surface Pattern for Enhanced Grip and Comfort in Exoskeleton Straps
GelSight360: An Omnidirectional Camera-Based Tactile Sensor for Dexterous Robotic Manipulation
FONS: a Python framework for simulating nonlinear inflatable actuator networks
Hydrogel-actuated Soft Sucker with Mucus Secretion
Safe Control for Soft-Rigid Robots with Self-Contact Using Control Barrier Functions