Related papers: Hybrid Soft Robots Incorporating Soft and Stiff El…
The field of Augmented Reality (AR) based Human Robot Interaction (HRI) has progressed significantly since its inception more than two decades ago. With more advanced devices, particularly head-mounted displays (HMD), freely available…
Bioinspired snake robotics has been a highly active area of research over the years and resulted in many prototypes. Much of these prototypes takes the form of serially jointed-rigid bodies. The emergence of soft robotics contributed to a…
Birds in nature perform perching not only for rest but also for interaction with human such as the relationship with falconers. Recently, researchers achieve perching-capable aerial robots as a way to save energy, and deformable structure…
Exploring the design and control strategies of soft robots through simulation is highly attractive due to its cost-effectiveness. Although many existing models (e.g., finite element analysis) are effective for simulating soft robotic…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
Undesired lateral and longitudinal wheel slippage can disrupt a mobile robot's heading angle, traction, and, eventually, desired motion. This issue makes the robotization and accurate modeling of heavy-duty machinery very challenging…
Biomimetic entirely soft robots with animal-like behavior and integrated artificial nervous systems will open up totally new perspectives and applications. However, until now all presented studies on soft robots were limited to partly soft…
This paper describes a new research project that aims to develop a social robot designed to help children cope with painful and distressing medical procedures in a clinical setting. While robots have previously been trialled for this task,…
Robot design aims at learning to create robots that can be easily controlled and perform tasks efficiently. Previous works on robot design have proven its ability to generate robots for various tasks. However, these works searched the…
The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…
Humans are experts in physical collaboration by leveraging cognitive abilities such as perception, reasoning, and decision-making to regulate compliance behaviors based on their partners' states and task requirements. Equipping robots with…
Surgical robot simulation platform plays a crucial role in enhancing training efficiency and advancing research on robot learning. Much effort have been made by scholars on developing open-sourced surgical robot simulators to facilitate…
Soft-robot designs are manifold, but only a few are publicly available. Often, these are only briefly described in their publications. This complicates reproduction, and hinders the reproducibility and comparability of research results. If…
The 'infinite' passive degrees of freedom of soft robotic arms render their control especially challenging. In this paper, we leverage a previously developed model, which drawing equivalence of the soft arm to a series of universal joints,…
Obtaining dynamic models of continuum soft robots is central to the analysis and control of soft robots, and researchers have devoted much attention to the challenge of proposing both data-driven and first-principle solutions. Both avenues…
Shape-morphing robots have shown benefits in industrial grasping. We propose form-flexible grippers for adaptive grasping. The design is based on the hybrid jamming and suction mechanism, which deforms to handle objects that vary…
Bio-hybrid systems---close couplings of natural organisms with technology---are high potential and still underexplored. In existing work, robots have mostly influenced group behaviors of animals. We explore the possibilities of mixing…
This paper presents a soft robot finger capable of adaptive-twist deformation to grasp objects by wrapping them. For a soft hand to grasp and pick-up one object from densely contained multiple objects, a soft finger requires the…
In this article, the control problem of one section pneumatically actuated soft robotic arm is investigated in detail. To date, extensive prior work has been done in soft robotics kinematics and dynamics modeling. Proper controller designs…