Related papers: The Folded Pneumatic Artificial Muscle (foldPAM): …
This paper investigates two distinct approaches to the dynamic modeling of aerial continuum manipulators (ACMs): the decoupled and the coupled formulations. Both open-loop and closed-loop behaviors of a representative ACM are analyzed. The…
Selecting an appropriate motor-gearbox combination is a critical design task in robotics because it directly affects cost, mass, and dynamic performance. This process is especially challenging in modular robots with closed kinematic chains,…
Soft robots are distinguished by their flexibility and adaptability, allowing them to perform nearly impossible tasks for rigid robots. However, controlling their behavior is challenging due to their nonlinear material response and infinite…
Complex and even chaotic dynamics, though prevalent in many natural and engineered systems, has been largely avoided in the design of electromechanical systems due to concerns about wear and controlability. Here, we demonstrate that complex…
Recent studies have demonstrated the immense potential of exploiting muscle actuator morphology for natural and robust movement -- in simulation. A validation on real robotic hardware is yet missing. In this study, we emulate muscle…
Textile pneumatic actuators can provide useful wearable haptic feedback when embedded in gloves, armbands, and other smart garments. Here we investigate actuators fabricated from thermoplastic coated textiles. We measure the effects of…
This work presents a new fiberless soft pneumatic actuator that can work multifunctional and bidirectional, and its embedded sensors give it a self-proprioception ability. This actuator works based on the idea of employing helical pressure…
This paper presents the design, modeling, and fabrication of 3D-printed, tendon-actuated continuum robots featuring a flexible, tapered backbone constructed from thermoplastic polyurethane (TPU). Our scalable design incorporates an…
The ability of robots to navigate through doors is crucial for their effective operation in indoor environments. Consequently, extensive research has been conducted to develop robots capable of opening specific doors. However, the diverse…
Controlling soft continuum manipulator arms is difficult due to their infinite degrees of freedom, nonlinear material properties, and large deflections under loading. This paper presents a data-driven approach to identifying soft…
This paper presents a comprehensive mathematical model of a servopneumatic system, aimed at its consolidation in literature. The work exploits system's friction forces, temperature and pressure evolution, heat transfer, leakage between…
Can active forces be exploited to drive the consistent collapse of an active polymer into a folded structure? In this paper we introduce and perform numerical simulations of a simple model of active colloidal folders, and show that a…
Soft robots are interesting examples of hyper-redundancy in robotics, however, the nonlinear continuous dynamics of these robots and the use of hyper-elastic and visco-elastic materials makes modeling of these robots more complicated. This…
Soft robotic grasping has rapidly spread through the academic robotics community in recent years and pushed into industrial applications. At the same time, multimaterial 3D printing has become widely available, enabling the monolithic…
This paper introduces a new nonlinear topology optimization framework which employs porohyperelasticity for providing computational design of pneumatic soft actuators. Density-based topology optimization is used with the objective of…
Voxel-based structures provide a modular, mechanically flexible periodic lattice which can be used as a soft robot through internal deformations. To engage these structures for robotic tasks, we use a finite element method to characterize…
Origami offers a promising alternative for designing innovative soft robotic actuators. While features of origami, such as bi-directional motion and structural anisotropy, haven't been extensively explored in the past, this letter presents…
Precise modeling soft robots remains a challenge due to their infinite-dimensional nature governed by partial differential equations. This paper introduces an innovative approach for modeling soft pneumatic actuators, employing a nonlinear…
In this study, we introduce a novel Mylar-based pouch motor design that leverages the reversible actuation capabilities of Peltier junctions to enable agonist-antagonist muscle mimicry in soft robotics. Addressing the limitations of…
Recently, suction-based robotic systems with microscopic features or active suction components have been proposed to grip rough and irregular surfaces. However, sophisticated fabrication methods or complex control systems are required for…