Related papers: Data-driven Methods Applied to Soft Robot Modeling…
The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions have been presented to overcome the difficulties related to…
Soft robots offer more flexibility, compliance, and adaptability than traditional rigid robots. They are also typically lighter and cheaper to manufacture. However, their use in real-world applications is limited due to modeling challenges…
The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics…
Soft robots have shown immense promise in settings where they can leverage dynamic control of their entire bodies. However, effective dynamic shape control requires a controller that accounts for the robot's high-dimensional dynamics--a…
Purpose of review: We review recent advances in algorithmic development and validation for modeling and control of soft robots leveraging the Koopman operator theory. Recent findings: We identify the following trends in recent research…
Traditional robots have rigid links and structures that limit their ability to interact with the dynamics of their immediate environment. For example, conventional robot manipulators with rigid links can only manipulate objects using…
Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…
Precise kinematic modeling is critical in calibration and controller design for soft robots, yet remains a challenging issue due to their highly nonlinear and complex behaviors. To tackle the issue, numerous data-driven machine learning…
Tracking control for soft robots is challenging due to uncertainties in the system model and environment. Using high feedback gains to overcome this issue results in an increasing stiffness that clearly destroys the inherent safety property…
Continuum and soft robots can transform diverse sectors, including healthcare, agriculture, marine, and space, thanks to their potential to adaptively interact with unstructured environments. These robots exhibit complex mechanics that pose…
Soft robots, compared to rigid robots, possess inherent advantages, including higher degrees of freedom, compliance, and enhanced safety, which have contributed to their increasing application across various fields. Among these benefits,…
Purpose of Review: This review provides an overview of the state of the art in bioinspired soft robotics with by examining advancements in actuation, functionality, modeling, and control. Recent Findings: Recent research into actuation…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…
Continuum soft robots are mechanical systems entirely made of continuously deformable elements. This design solution aims to bring robots closer to invertebrate animals and soft appendices of vertebrate animals (e.g., an elephant's trunk, a…
Obtaining dynamic models of continuum soft robots is central to the analysis and control of soft robots, and researchers have devoted much attention to the challenge of proposing both data-driven and first-principle solutions. Both avenues…
The mechanical complexity of soft robots creates significant challenges for their model-based control. Specifically, linear data-driven models have struggled to control soft robots on complex, spatially extended paths that explore regions…
The control of marine robots has long relied on model-based methods grounded in classical and modern control theory. However, the nonlinearity and uncertainties inherent in robot dynamics, coupled with the complexity of marine environments,…
Data-driven model reduction methods provide a nonintrusive way of constructing computationally efficient surrogates of high-fidelity models for real-time control of soft robots. This work leverages the Lagrangian nature of the model…
Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…
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…