Related papers: Dynamic Modeling and Validation of Soft Robotic Sn…
Tactile feedback is critical for understanding the dynamics of both rigid and deformable objects in many manipulation tasks, such as non-prehensile manipulation and dense packing. We introduce an approach that combines visual and tactile…
Soft continuum robots achieve complex deformation through elastic equilibrium, making their reachable motions governed jointly by structural design and actuation-induced mechanics. This work develops a general formulation that integrates…
Soft robots can exhibit diverse behaviors with simple types of actuation by partially outsourcing control to the morphological and material properties of their soft bodies, which is made possible by the tight coupling between control, body,…
We present experimental and numerical results for a model crawler which is able to extract net positional changes from reciprocal shape changes, i.e. 'breathing-like' deformations, thanks to directional, frictional interactions with a…
Much current study of legged locomotion has rightly focused on foot traction forces, including on granular media. Future legged millirobots will need to go through terrain, such as brush or other vegetation, where the body contact forces…
Characterizing forces on deformable objects intruding into sand and soil requires understanding the solid and fluid-like responses of such substrates and their effect on the state of the object. The most detailed studies of intrusion in dry…
Differentiable physics simulation provides an avenue to tackle previously intractable challenges through gradient-based optimization, thereby greatly improving the efficiency of solving robotics-related problems. To apply differentiable…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…
Soft robots offer an alternative approach to manipulate inside the constrained space while maintaining the safe interaction with the external environment. Due to its adaptable compliance characteristic, external contact force can easily…
Soft robots have high adaptability and safeness which are derived from their softness, and therefore it is paid attention to use them in human society. However, the controllability of soft robots is not enough to perform dexterous behaviors…
Orb-weaving spiders detect prey on a web using vibration sensors at leg joints. They often dynamically crouch their legs during prey sensing, likely an active sensing strategy. However, how leg crouching enhances sensing is poorly…
Rectilinear forms of snake-like robotic locomotion are anticipated to be an advantage in obstacle-strewn scenarios characterizing urban disaster zones, subterranean collapses, and other natural environments. The elongated, laterally-narrow…
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…
We employ a novel computational modeling framework to perform high-fidelity direct numerical simulations of aero-structural interactions in bat-inspired membrane wings. The wing of a bat consists of an elastic membrane supported by a highly…
We explore the locomotion of soft robots in granular medium (GM) resulting from the elastic deformation of slender rods. A low-cost, rapidly fabricable robot inspired by the physiological structure of bacteria is presented. It consists of a…
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…
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…
Quadruped mammals coordinate spinal bending and axial compression to enhance locomotion agility and efficiency. However, existing robotic spines typically lack the active compliance required to support such dynamic behaviours. We present…
Discrete simulation methods are efficient tools to investigate the complex behaviors of complex fluids made of either dry granular materials or dilute suspensions. By contrast, materials made of soft and/or concentrated units (emulsions,…
Snap-buckling is a rapid shape transition in slender structures, appearing as a fundamental switching mechanism of natural and man-made systems. Boundary conditions of structures are crucial to predict and control their snap-buckling…