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Soft robotics have gained increased attention from the robotic community due to their unique features such as compliance and human safety. Impressive amount of soft robotic prototypes have shown their superior performance over their rigid…
Soft robot manipulators have the potential for deployment in delicate environments to perform complex manipulation tasks. However, existing obstacle detection and avoidance methods do not consider limits on the forces that manipulators may…
Soft robot arms have made significant progress towards completing human-scale tasks, but designing arms for tasks with specific load and workspace requirements remains difficult. A key challenge is the lack of model-based design tools,…
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…
Objective: In this work we address limitations in state-of-the-art ultrasound robots by designing and integrating a novel soft robotic system for ultrasound imaging. It employs the inherent qualities of soft fluidic actuators to establish…
Finite element modeling (FEM) is a critical tool in the design and analysis of piezoelectric devices, offering detailed numerical simulations that guide various applications. While traditionally applied to eigenfrequency analysis and…
Continuum soft robots are nonlinear mechanical systems with theoretically infinite degrees of freedom (DoFs) that exhibit complex behaviors. Achieving motor intelligence under dynamic conditions necessitates the development of…
While rigid robots are extensively used in various applications, they are limited in the tasks they can perform and can be unsafe in close human-robot interactions. Soft robots on the other hand surpass the capabilities of rigid robots in…
Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new…
This work presents approaches for the estimation of quantities important for the control of the momentum of a humanoid robot. In contrast to previous approaches which use simplified models such as the Linear Inverted Pendulum Model, we…
Due to their inherent compliance, soft robots are more versatile than rigid linked robots when they interact with their environment, such as object manipulation or biomimetic motion, and considered the key element in introducing robots to…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…
Soft robotic manipulators provide numerous advantages over conventional rigid manipulators in fragile environments such as the marine environment. However, developing analytic inverse models necessary for shape, motion, and force control of…
Objective: To present the first real-time a posteriori error-driven adaptive finite element approach for real-time simulation and to demonstrate the method on a needle insertion problem. Methods: We use corotational elasticity and a…
The deployment of complex soft robots in multiphysics environments requires advanced simulation frameworks that not only capture interactions between different types of material, but also translate accurately to real-world performance. Soft…
The autonomous operation of tracked mobile manipulators in rescue missions requires not only ensuring the reachability and safety of robot motion but also maintaining stable end-effector manipulation under diverse task demands. However,…
In recent years, soft robotics simulators have evolved to offer various functionalities, including the simulation of different material types (e.g., elastic, hyper-elastic) and actuation methods (e.g., pneumatic, cable-driven, servomotor).…
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…
As bipedal robots become more and more popular in commercial and industrial settings, the ability to control them with a high degree of reliability is critical. To that end, this paper considers how to accurately estimate which feet are…
State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…