Related papers: Category theory as a foundation for soft robotics
Continuum and soft robots can transform diverse sectors, including healthcare, agriculture, marine, and space, thanks to their potential to adaptively interact with unstructured environments. These robots exhibit complex mechanics that pose…
Soft robots, compared to rigid robots, possess inherent advantages, including higher degrees of freedom, compliance, and enhanced safety, which have contributed to their increasing application across various fields. Among these benefits,…
Continuum soft robots are mechanical systems entirely made of continuously deformable elements. This design solution aims to bring robots closer to invertebrate animals and soft appendices of vertebrate animals (e.g., an elephant's trunk, a…
Traditional robots have rigid links and structures that limit their ability to interact with the dynamics of their immediate environment. For example, conventional robot manipulators with rigid links can only manipulate objects using…
The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions have been presented to overcome the difficulties related to…
Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…
Wearable robots are undergoing a disruptive transition, from the rigid machines that populated the science-fiction world in the early eighties to lightweight robotic apparel, hardly distinguishable from our daily clothes. In less than a…
Living organisms intertwine soft (e.g., muscle) and hard (e.g., bones) materials, giving them an intrinsic flexibility and resiliency often lacking in conventional rigid robots. The emerging field of soft robotics seeks to harness these…
Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…
Soft robots show compliance and have infinite degrees of freedom. Thanks to these properties, such robots can be leveraged for surgery, rehabilitation, biomimetics, unstructured environment exploring, and industrial grippers. In this case,…
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…
The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics…
This paper summarizes the most recent research in soft robotic field from the factors of material, actuation, mechanicsproperty, dimension & scale and architecture, and then presents the relations among the functionalities, manufacturing…
Robots and artificial machines have been captivating the public for centuries, depicted first as threats to humanity, then as subordinates and helpers. In the last decade, the booming exposure of humans to robots has fostered an increasing…
In spite of recent progress, soft robotics still suffers from a lack of unified modeling framework. Nowadays, the most adopted model for the design and control of soft robots is the piece-wise constant curvature model, with its consolidated…
Soft robotics has opened a unique path to flexibility and environmental adaptability, learning from nature and reproducing biological behaviors. Nature implies answers for how to apply robots to real life. To find out how we learn from…
Evolutionary robotics aims to automatically design autonomous adaptive morphological robots that can evolve to accomplish a specific task while adapting to environmental changes. Soft robotics have demonstrated the feasibility of…
Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new…
Designing soft robots poses considerable challenges: automated design approaches may be particularly appealing in this field, as they promise to optimize complex multi-material machines with very little or no human intervention.…