Related papers: A Versatile Pseudo-Rigid Body Modeling Method
Accurate identification of nonlinear material parameters from three-dimensional full-field deformation data remains a challenge in experimental mechanics. The virtual fields method (VFM) provides a powerful, computationally efficient…
The compliance of soft robotic arms renders the development of accurate kinematic & dynamical models especially challenging. The most widely used model in soft robotic kinematics assumes Piecewise Constant Curvature (PCC). However, PCC…
Fish-inspired aquatic robots are gaining increasing attention in marine robot communities due to their high swimming speeds and efficient propulsion enabled by flexible bodies that generate undulatory motions. To support the design…
The dynamic behavior of jointed assemblies exhibiting friction nonlinearities features amplitude-dependent dissipation and stiffness. To develop numerical simulations for predictive and design purposes, macro-scale High Fidelity Models…
A majority of microrobots are constructed using compliant materials that are difficult to model analytically, limiting the utility of traditional model-based controllers. Challenges in data collection on microrobots and large errors between…
We present a new hybrid semi-implicit finite volume / finite element numerical scheme for the solution of incompressible and weakly compressible media. From the continuum mechanics model proposed by Godunov, Peshkov and Romenski (GPR), we…
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…
We present a new approach to parametric robust controller design, where we compute controllers of arbitrary order and structure which minimize the worst-case $H_\infty$ norm over a pre-specified set of uncertain parameters. At the core of…
In this paper, we propose a novel variable-length estimation approach for shape sensing of extensible soft robots utilizing fiber Bragg gratings (FBGs). Shape reconstruction from FBG sensors has been increasingly developed for soft robots,…
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…
Nowadays, being fast and precise are key requirements in Robotics. This work introduces a novel methodology to tune the stiffness of Cable-Driven Parallel Robots (CDPRs) while simultaneously addressing the tension distribution problem. In…
We propose reaching steps towards the real-time strain control of multiphysics, multiscale continuum soft robots. To study this problem fundamentally, we ground ourselves in a model-based control setting enabled by mathematically precise…
The superfluid stiffness fundamentally constrains the transition temperature of superconductors, especially in the strongly coupled regime. However, accurately determining this inherently quantum many-body property in microscopic models…
Robotic arms are highly common in various automation processes such as manufacturing lines. However, these highly capable robots are usually degraded to simple repetitive tasks such as pick-and-place. On the other hand, designing an optimal…
Haptic feedback to the surgeon during robotic surgery would enable safer and more immersive surgeries but estimating tissue interaction forces at the tips of robotically controlled surgical instruments has proven challenging. Few existing…
Soft Robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced…
Cable-driven continuum robots offer high flexibility and lightweight design, making them well-suited for tasks in constrained and unstructured environments. However, prolonged use can induce mechanical fatigue from plastic deformation and…
This paper presents a novel approach for incremental semiparametric inverse dynamics learning. In particular, we consider the mixture of two approaches: Parametric modeling based on rigid body dynamics equations and nonparametric modeling…
In this paper, we present a novel and generic data-driven method to servo-control the 3-D shape of continuum and soft robots embedded with fiber Bragg grating (FBG) sensors. Developments of 3-D shape perception and control technologies are…
Traditional dynamic models of continuum robots are in general computationally expensive and not suitable for real-time control. Recent approaches using learning-based methods to approximate the dynamic model of continuum robots for control…