Related papers: Using Nonlinear Normal Modes for Execution of Effi…
High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise architectures in which each actuated segment behaves as a…
Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…
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…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
The vision of creating entirely-soft robots capable of performing complex tasks will be accomplished only when the controllers required for autonomous operation can be fully implemented on soft components. Despite recent advances in…
We explore the locomotion of soft robots in granular medium (GM) resulting from the elastic deformation of slender rods. A low-cost, rapidly fabricable robot inspired by the physiological structure of bacteria is presented. It consists of a…
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,…
Inspired by the octopus and other animals living in water, soft robots should naturally lend themselves to underwater operations, as supported by encouraging validations in deep water scenarios. This work deals with equipping soft arms with…
This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed…
We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and…
Soft continuum robots achieve complex deformation through elastic equilibrium, making their reachable motions governed jointly by structural design and actuation-induced mechanics. This work develops a general formulation that integrates…
We investigate the sensorimotor loop of simple robots simulated within the LPZRobots environment from the point of view of dynamical systems theory. For a robot with a cylindrical shaped body and an actuator controlled by a single…
Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…
Cosserat rod theory is the popular approach to modeling ferromagnetic soft robots as 1-Dimensional (1D) slender structures in most applications, such as biomedical. However, recent soft robots designed for locomotion and manipulation often…
The ocean vast unexplored regions and diverse soft-bodied marine organisms have spurred interest in bio-inspired underwater soft robotics. Recent advances have enabled new capabilities in underwater movement, sensing, and interaction.…
Precise kinematic modeling is critical in calibration and controller design for soft robots, yet remains a challenging issue due to their highly nonlinear and complex behaviors. To tackle the issue, numerous data-driven machine learning…
While rigid robots are extensively used in various applications, they are limited in the tasks they can perform and can be unsafe in close human-robot interactions. Soft robots on the other hand surpass the capabilities of rigid robots in…
Soft robots, in contrast to their rigid counter parts, have infinite degrees of freedom that are coupled with their interaction with the environment. We consider the locomotion of an untethered robot, in the granular medium, comprised of…
Soft slender robots have attracted more and more research attentions in these years due to their continuity and compliance natures. However, mechanics modeling for soft robots interacting with environment is still an academic challenge…
Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…