Related papers: Self-Sustained And Coordinated Rhythmic Deformatio…
In this paper, we present a model-free learning-based control scheme for the soft snake robot to improve its contact-aware locomotion performance in a cluttered environment. The control scheme includes two cooperative controllers: A…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…
We address the challenge of effectively controlling the locomotion of legged robots by incorporating precise frequency and phase characteristics, which is often ignored in locomotion policies that do not account for the periodic nature of…
In this paper, a compressed air-actuated soft robotic module was developed by incorporating a shape memory alloy (SMA) wire into its structure to achieve the desired bending angle with greater precision. First, a fiber-reinforced bending…
A problem of vibration control of smart beams was addressed in various publications which primarily utilize collocated sensors and actuators and neglect the effect of measurement noise in the observer design. This paper develops a natural…
Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve…
Soft robots have immense potential given their inherent safety and adaptability, but challenges in soft actuator forces and design constraints have limited scaling up soft robots to larger sizes. Electrothermal shape memory alloy (SMA)…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…
Passive tumbling uses natural forces like gravity for efficient travel. But without an active means of control, passive tumblers must rely entirely on external forces. Northeastern University's COBRA is a snake robot that can morph into a…
The Piecewise Constant Curvature (PCC) model is the most widely used soft robotic modeling and control. However, the PCC fails to accurately describe the deformation of the soft robots when executing dynamic tasks or interacting with the…
Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…
Biological studies reveal that neural circuits located at the spinal cord called central pattern generator (CPG) oscillates and generates rhythmic signals, which are the underlying mechanism responsible for rhythmic locomotion behaviors of…
Despite recent progress in calibration-free monocular SLAM via 3D vision foundation models, scale drift remains severe on long sequences. Motion-agnostic partitioning breaks contextual coherence and causes zero-motion drift, while…
Adaptive morphogenetic robots adapt their morphology and control policies to meet changing tasks and environmental conditions. Many such systems leverage soft components, which enable shape morphing but also introduce simulation and control…
Balancing oneself using the spine is a physiological alignment of the body posture in the most efficient manner by the muscular forces for mammals. For this reason, we can see many disabled quadruped animals can still stand or walk even…
Sidewinding, a locomotion strategy characterized by the coordination of lateral and vertical body undulations, is frequently observed in rattlesnakes and has been successfully reconstructed by limbless robotic systems for effective movement…
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…
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…
Stroke-induced motor impairment often results in substantial loss of upper-limb function, creating a strong demand for rehabilitation robots that enable safe and transparent physical human-robot interaction (pHRI). Variable stiffness…
Magnetic soft continuum robots (MSCRs) have emerged as powerful devices in endovascular interventions owing to their hyperelastic fibre matrix and enhanced magnetic manipulability. Effective closed-loop control of tethered magnetic devices…