Related papers: The Folded Pneumatic Artificial Muscle (foldPAM): …
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…
Miniaturised soft pneumatic actuators are crucial for robotic intervention within highly constrained anatomical pathways. This work presents the design and validation of a fibre-reinforced soft actuator at the centimetre scale for inte-…
Magnetic-responsive composites that consist of soft matrix embedded with hard-magnetic particles have recently been demonstrated as robust soft active materials for fast-transforming actuation. However, the deformation of the functional…
Soft robots have become increasingly popular for complex manipulation tasks requiring gentle and safe contact. However, their softness makes accurate control challenging, and high-fidelity sensing is a prerequisite to adequate control…
In this work, we propose a novel quadrotor design capable of folding its arms vertically to grasp objects and navigate through narrow spaces. The transformation is controlled actively by a central servomotor, gears, and racks. The arms…
Soft robotic grippers gently and safely manipulate delicate objects due to their inherent adaptability and softness. Limited by insufficient stiffness and imprecise force control, conventional soft grippers are not suitable for applications…
Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic…
This paper presents a design methodology of a hydraulically-driven soft robotic gripper for grasping a large and heavy object -- approximately 10 - 20 kg with 20 - 30 cm diameter. Most existing soft grippers are pneumatically actuated with…
The recent advancements in machine learning techniques have steered us towards the data-driven design of products. Motivated by this objective, the present study proposes an automated design methodology that employs data-driven methods to…
Haptic interfaces that can simultaneously modulate multiple physical properties remain a fundamental challenge in human-robot interaction. Existing systems typically allow the rendering of either geometric features or mechanical properties,…
Object manipulation is a fundamental challenge in robotics, where systems must balance trade-offs among manipulation capabilities, system complexity, and throughput. Distributed manipulator systems (DMS) use the coordinated motion of…
Pneumatic artificial muscles are a quite interesting type of actuators which have a very high power-to-weight and power-to-volume ratio. However, their efficient use requires very accurate control methods which can take into account their…
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…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
Everting, soft growing vine robots benefit from reduced friction with their environment, which allows them to navigate challenging terrain. Vine robots can use air pouches attached to their sides for lateral steering. However, when all…
Simulating deformable objects under rich interactions remains a fundamental challenge for real-to-sim robot manipulation, with dynamics jointly driven by environmental effects and robot actions. Existing simulators rely on predefined…
Self-regulated actuators harness material intelligence to enable complex deformations and dynamics, representing a significant advancement in automated soft robotics. However, investigations on self-regulated soft actuators, particularly…
Kirigami metamaterial sheets and tubes, owing to their capacity to undergo large elastic deformations while developing three-dimensional surface textures, have enormous potential as skins for soft robots. Here, we propose to use kirigami…
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…
Tried-and-true flapping wing robot simulation is essential in developing flapping wing mechanisms and algorithms. This paper presents a novel application-oriented flapping wing platform, highly compatible with various mechanical designs and…