Related papers: HISSbot: Sidewinding with a Soft Snake Robot
Movement disorders impact muscle strength and mobility, and despite therapeutic efforts, many people with movement disorders have challenges functioning independently. Soft wearable robots, or exosuits, offer a promising solution for…
Soft robots have a myriad of potentials because of their intrinsically compliant bodies, enabling safe interactions with humans and adaptability to unpredictable environments. However, most of them have limited actuation speeds, require…
Tip-extending soft robots that "grow" via pneumatic eversion of their body material have demonstrated applications in exploration of cluttered environments. During growth, the motion and force of the robot tip can be controlled in three…
Electrically-driven soft robots based on piezoelectric actuators may enable compact form factors and maneuverability in complex environments. In most prior work, piezoelectric actuators are used to control a single degree of freedom. In…
Subterranean burrowing is inherently difficult for robots because of the high forces experienced as well as the high amount of uncertainty in this domain. Because of the difficulty in modeling forces in granular media, we propose the use of…
Motivated towards achieving multi-modal locomotion, in this paper, we develop a framework for a bipedal robot to dynamically ride a pair of Hovershoes over various terrain. Our developed control strategy enables the Cassie bipedal robot to…
Mobile robots are used in various fields, from deliveries to search and rescue applications. Different types of sensors are mounted on the robot to provide accurate navigation and, thus, allow successful completion of its task. In…
Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into trajectory tracking systems, potentially compromising the safety…
Soft robots are robotic systems made of deformable materials and exhibit unique flexibility that can be exploited for complex environments and tasks. However, their control problem has been considered a challenging subject because they are…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
Soft robotics leverages deformable materials to develop robots capable of navigating unstructured and dynamic environments. Silicone Voxel-Based Soft Robots (Silibots) are a type of pneumatically actuated soft robots that rely on the…
Climbing Robots are being developed for applications ranging from cleaning to the inspection of difficult to reach constructions. Climbing robots should be capable of carrying a light payload and climbing on vertical surfaces with ability…
We optimize three-dimensional snake kinematics for locomotor efficiency. We assume a general space-curve representation of the snake backbone with small-to-moderate lifting off the ground and negligible body inertia. The cost of locomotion…
This study compares the propulsion of helical microrobots based on hard- and soft-magnetic elements under rotating magnetic fields. Results show that hard-magnetic microrobots achieved step-out frequencies and maximum propulsion speeds 4.5…
Robots "in-the-wild" encounter and must traverse widely varying terrain, ranging from solid ground to granular materials like sand to full liquids. Numerous approaches exist, including wheeled and legged robots, each excelling in specific…
Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along sagittal direction, such as…
With the presence of robots increasing in the society, the need for interacting with robots is becoming necessary. The field of Human-Robot Interaction (HRI) has emerged important since more repetitive and tiresome jobs are being done by…
Soft Robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced…
Biped robots usually adopt feet with a rigid structure that simplifies walking on flat grounds and yet hinders ground adaptation in unstructured environments, thus jeopardizing stability. We recently explored in the SoftFoot the idea of…
Multilegged robots have the ability to perform stable locomotion on relatively rough terrain. However, the complexity of legged robots over wheeled or tracked robots make them difficult to control. This paper presents OpenSHC (Open-source…