Related papers: Development of a Modular and Submersible Soft Robo…
Soft-robot designs are manifold, but only a few are publicly available. Often, these are only briefly described in their publications. This complicates reproduction, and hinders the reproducibility and comparability of research results. If…
Soft robots utilizing inflatable dielectric membranes can realize intricate functionalities through the application of non-mechanical fields. However, given the current limitations in simulations, including low computational efficiency and…
This paper presents the design and development of a highly articulated, continuum, wearable, fabric-based Soft Poly-Limb (fSPL). This fabric soft arm acts as an additional limb that provides the wearer with mobile manipulation assistance…
Bionic underwater robots have demonstrated their superiority in many applications. Yet, training their intelligence for a variety of tasks that mimic the behavior of underwater creatures poses a number of challenges in practice, mainly due…
In this paper, we introduce a consistency-driven dual LSTM framework for accurately learning both the forward and inverse kinematics of a pneumatically actuated soft robotic arm integrated into a wearable device. This approach effectively…
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…
Magnetic soft robots have attracted growing interest due to their unique advantages in terms of untethered actuation and excellent controllability. However, finding the required magnetization patterns or magnetic fields to achieve the…
We argue that hardware modularity plays a key role in the convergence of Robotics and Artificial Intelligence (AI). We introduce a new approach for building robots that leads to more adaptable and capable machines. We present the concept of…
This paper presents the first steps toward a soft dolphin robot using a bio-inspired approach to mimic dolphin flexibility. The current dolphin robot uses a minimalist approach, with only two actuated cable-driven degrees of freedom…
Soft robots - due to their intrinsic flexibility of the body - can adaptively navigate unstructured environments. One of the most popular locomotion gaits that has been implemented in soft robots is undulation. The undulation motion in soft…
This paper presents a low-cost, centralized modular underwater robot platform, ModCube, which can be used to study swarm coordination for a wide range of tasks in underwater environments. A ModCube structure consists of multiple ModCube…
Amphibious legged robots inspired by salamanders are promising in applications in complex amphibious environments. However, despite the significant success of training controllers that achieve diverse locomotion behaviors in conventional…
Wearable and legged robot designers face multiple challenges when choosing actuation. Traditional fully actuated designs using electric motors are multifunctional but oversized and inefficient for bearing conservative loads and for being…
Underwater robotics has advanced significantly over recent decades. however, the development of miniaturized underwater robots remains limited by low energy densities of traditional power sources. Nature offers compelling…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
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…
We present a novel design for a low-cost robotic boat powered by a single actuator, useful for both modular and swarming applications. The boat uses the conservation of angular momentum and passive flippers to convert the motion of a single…
The Finite Element Method (FEM) is a powerful modeling tool for predicting soft robots' behavior, but its computation time can limit practical applications. In this paper, a learning-based approach based on condensation of the FEM model is…
This work represents an initial benchmark of a large-scale soft robot performing physical, collaborative manipulation of a long, extended object with a human partner. The robot consists of a pneumatically-actuated, three-link continuum soft…
The ignition of flammable liquids and gases in offshore oil and gas environments is a major risk and can cause loss of life, serious injury, and significant damage to infrastructure. Power supplies that are used to provide regulated…