# Paper & talk on the design of Stretch

**URL:** <https://forum.hello-robot.com/t/paper-talk-on-the-design-of-stretch/301>\
**Category:** Share\
**Created:** [September 23, 2021, 8:44pm UTC](https://forum.hello-robot.com/t/paper-talk-on-the-design-of-stretch/301 "2021-09-23T20:44:26Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![prof-charlie-kemp](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/prof-charlie-kemp/32/187_2.png) [@prof-charlie-kemp](https://forum.hello-robot.com/u/prof-charlie-kemp)\
**Post date:** [September 23, 2021, 8:44pm UTC](https://forum.hello-robot.com/t/paper-talk-on-the-design-of-stretch/301/1 "2021-09-23T20:44:26Z")

</div>

Hi everyone,

A preprint of our paper on the design of Stretch just became available on arXiv.

> [The Design of Stretch: A Compact, Lightweight Mobile Manipulator for Indoor Human Environments](https://arxiv.org/abs/2109.10892), Charles C. Kemp, Aaron Edsinger, Henry M. Clever and Blaine Matulevich, arXiv, 2021.

If it becomes a published, peer-reviewed work, I’ll provide an update.

On a related note, I recently gave a [15-minute talk at Georgia Tech on Stretch’s academic backstory](https://mediaspace.gatech.edu/playlist/dedicated/51501371/1_bd37m3c0/1_wd297q2n).

Best wishes,  
Charlie

_Charles C. Kemp, PhD_  
_Associate Professor_  
_Georgia Tech_  
_[https://charliekemp.com](https://charliekemp.com/)_

_ **Conflict of Interest Statement:** In addition to being an associate professor at Georgia Tech, I am a co-founder and the chief technology officer (CTO) of Hello Robot Inc. where I work part time. I own equity in Hello Robot Inc. and I am an inventor of Georgia Tech intellectual property (IP) licensed by Hello Robot Inc. Consequently, I receive royalties through Georgia Tech for sales made by Hello Robot Inc. I also benefit from increases in the value of Hello Robot Inc._