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Robotic grasping under uncertainty remains a fundamental challenge due to its uncertain and contact-rich nature. Traditional rigid robotic hands, with limited degrees of freedom and compliance, rely on complex model-based and heavy feedback…
With soft robotics being increasingly employed in settings demanding high and controlled contact forces, recent research has demonstrated the use of soft robots to estimate or intrinsically sense forces without requiring external sensing…
We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…
This paper provides a constructive passivity-based control approach to solve the set-point regulation problem for input-affine continuous nonlinear systems while considering saturation in the inputs. As customarily in passivity-based…
A bio-inspired, passively deployable flap attached to an airfoil by a torsional spring of fixed stiffness can provide significant lift improvements at post-stall angles of attack. In this work, we describe a hybrid active-passive variant to…
Integration of both actuation and proprioception into the robot body would provide actuation and sensing in a single integrated system. Within this work, a manufacturing approach for such actuators is investigated that relies on 3D printing…
In this paper, we present a novel flow model and compensation strategy for high-viscosity fluid deposition that yields high quality parts in the face of large transient delays and nonlinearity. Robotic high-viscosity fluid deposition is an…
The rapid design and fabrication of soft robotic matter is of growing interest for shape morphing, actuation, and wearable devices. Here, we report a facile fabrication method for creating soft robotic materials with embedded pneumatics…
Positive-negative pressure regulation is critical to soft robotic actuators, enabling large motion ranges and versatile actuation modes. However, achieving high-performance regulation across both pressure polarities remains challenging due…
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers adaptively conform to object shapes…
In this paper, a novel fully 3D, microfluidic-oriented, gel-based, and low-cost highly stretchable resistive sensors have been presented. By the proposed method we are able to measure and discriminate all of the stretch, twist, and pressure…
Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…
We present a method for differentiable simulation of soft articulated bodies. Our work enables the integration of differentiable physical dynamics into gradient-based pipelines. We develop a top-down matrix assembly algorithm within…
Soft robots are promising for manipulation tasks thanks to their compliance, safety, and high degree of freedom. However, the commonly used bidirectional continuum segment design means soft robotic manipulators only function in a limited…
This article presents a novel SOFA based finite element method for the soft body modeling and the corresponding dynamic simulation and control of a pneumatic morphing soft quadrotor. The proposed modeling preserves the physical…
Aiming to achieve both high functionality and flexibility in soft robot system, this paper presents a soft urethane sheet-like valve with an amplifier that can perform logical operations using only pneumatic signals. When the control…
In this paper, a reinforced soft robot prototype with a custom-designed actuator-space string encoder are created to investigate dynamic soft robotic trajectory tracking. The soft robot prototype embedded with the proposed adaptive…
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…
This work proposes a novel generative design tool for passive grippers -- robot end effectors that have no additional actuation and instead leverage the existing degrees of freedom in a robotic arm to perform grasping tasks. Passive…
Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…