Related papers: Dynamic Control of Soft Robotic Arm
Real-time proprioception is a challenging problem for soft robots, which have almost infinite degrees-of-freedom in body deformation. When multiple actuators are used, it becomes more difficult as deformation can also occur on actuators…
Soft robotics is an attractive and rapidly emerging field, in which actuation is coupled with the elastic response of the robot's structure to achieve complex deformation patterns. A crucial challenge is the need for multiple control…
The ability of a soft robot to perform specific tasks is determined by its contact configuration, and transitioning between configurations is often necessary to reach a desired position or manipulate an object. Based on this observation, we…
Planning and execution of agile locomotion maneuvers have been a longstanding challenge in legged robotics. It requires to derive motion plans and local feedback policies in real-time to handle the nonholonomy of the kinetic momenta. To…
Fluid-based soft actuators are an attractive option for lightweight and human-safe robots. These actuators, combined with fluid pressure force feedback, are in principle a form of series-elastic actuation (SEA), in which nearly all…
Safe yet stable grasping requires a robotic hand to apply sufficient force on the object to immobilize it while keeping it from getting damaged. Soft robotic hands have been proposed for safe grasping due to their passive compliance, but…
Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which…
Controlling soft continuum manipulator arms is difficult due to their infinite degrees of freedom, nonlinear material properties, and large deflections under loading. This paper presents a data-driven approach to identifying soft…
This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately.…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
Soft robotics is a rapidly growing area of robotics research that would benefit greatly from design automation, given the challenges of manually engineering complex, compliant, and generally non-intuitive robot body plans and behaviors. It…
Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynamic control particularly challenging, especially in hybrid rigid-soft robots. While most existing methods focus on quasi-static…
Surgeon hand tremor limits human capability during microsurgical procedures such as those that treat the eye. In contrast, elimination of hand tremor through the introduction of microsurgical robots diminishes the surgeon's tactile…
It is challenging to control a soft robot, where reinforcement learning methods have been applied with promising results. However, due to the poor sample efficiency, reinforcement learning methods require a large collection of training…
Soft robots, compared to regular rigid robots, as their multiple segments with soft materials bring flexibility and compliance, have the advantages of safe interaction and dexterous operation in the environment. However, due to its…
Soft robots are gaining popularity thanks to their intrinsic safety to contacts and adaptability. However, the potentially infinite number of Degrees of Freedom makes their modeling a daunting task, and in many cases only an approximated…
In experimental robotics, researchers may face uncertainties in parameters of a robot manipulator that they are working with. This uncertainty may be caused by deviations in the manufacturing process of a manipulator, or changes applied to…
For soft robots to work effectively in human-centered environments, they need to be able to estimate their state and external interactions based on (proprioceptive) sensors. Estimating disturbances allows a soft robot to perform desirable…
In this work, an experimental characterization of the configuration space of a soft, pneumatically actuated morphing quadrotor is presented, with a focus on precise thrust characterization of its flexible arms, considering the effect of…
The objective of this paper is to present a systematic review of existing sensor-based control methodologies for applications that involve direct interaction between humans and robots, in the form of either physical collaboration or safe…