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While its biological significance is well-documented, its application in soft robotics, particularly for the transport of fragile and irregularly shaped objects, remains underexplored. This study presents a modular soft robotic actuator…
This thesis presents a unified modeling and simulation framework for analyzing sidewinding and tumbling locomotion of the COBRA snake robot across rigid, compliant, and granular terrains. A contact-implicit formulation is used to model…
We present the modeling, design, fabrication and feedback control of an earthworm-inspired soft robot capable of crawling on surfaces by actively manipulating the frictional force between its body and the surface. Earthworms are segmented…
Soft robotic snakes (SRSs) have a unique combination of continuous and compliant properties that allow them to imitate the complex movements of biological snakes. Despite the previous attempts to develop SRSs, many have been limited to…
In this work, we address the inverse kinetics problem of motion planning of soft biomimetic actuators driven by three chambers. Soft biomimetic actuators have been applied in many applications owing to their intrinsic softness. Although a…
Soft pneumatic actuators (SPAs) produce motions for soft robots with simple pressure input, however they require to be appropriately designed to fit the target application. Available design methods employ kinematic models and optimization…
Soft actuators have shown great advantages in compliance and morphology matched for manipulation of delicate objects and inspection in a confined space. There is an unmet need for a soft actuator that can provide torsional motion to e.g.…
Track systems effectively distribute loads, augmenting traction and maneuverability on unstable terrains, leveraging their expansive contact areas. This tracked locomotion capability also aids in hand manipulation of not only regular…
Different approaches have been used in the development of system models. In addition, modeling and simulation approaches are essential for design, analysis, control, and diagnosis of complex systems. This work presents a Simulink model for…
While soft robot manipulators offer compelling advantages over rigid counterparts, including inherent compliance, safe human-robot interaction, and the ability to conform to complex geometries, accurate forward modeling from low-dimensional…
Bilayer bending based soft actuators are widely utilized in soft robotics for locomotion and object gripping. However, studies on soft actuators based on bilayer doming remain largely unexplored despite the often-observed dome-like shapes…
Soft robots offer an alternative approach to manipulate inside the constrained space while maintaining the safe interaction with the external environment. Due to its adaptable compliance characteristic, external contact force can easily…
Electrically-driven soft robots based on piezoelectric actuators may enable compact form factors and maneuverability in complex environments. In most prior work, piezoelectric actuators are used to control a single degree of freedom. In…
Virtual models of human gait, or digital twins, offer a promising solution for studying mobility without the need for labor-intensive data collection. However, challenges such as the sim-to-real gap and limited adaptability to diverse…
Snake robots have been studied for decades with the aim of achieving biological snakes' fluent locomotion. Yet, as of today, their locomotion remains far from that of the biological snakes. Our recent study suggested that snake locomotion…
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…
Soft pneumatic actuators enable safe human-machine interaction with lightweight and powerful applied parts. On the other side, they suffer design limitations as regards complex actuation patterns, including minimum bending radii,…
This paper represents an adaptive rhythmic control for a snake-like robot with 25 degrees of freedom. The adaptive gait control is implemented in algorithmic way in simulation and on a real robot. We investigated behavioral and energetic…
High-fidelity physics simulation is essential for scalable robotic learning, but the sim-to-real gap persists, especially for tasks involving complex, dynamic, and discontinuous interactions like physical contacts. Explicit system…
Soft pneumatic actuators have seen applications in many soft robotic systems, and their pressure-driven nature presents unique challenges and opportunities for controlling their motion. In this work, we present a new concept: designing and…