Related papers: Optimized Design of a Soft Actuator Considering Fo…
The recent advancements in machine learning techniques have steered us towards the data-driven design of products. Motivated by this objective, the present study proposes an automated design methodology that employs data-driven methods to…
Soft robots are made of compliant materials that perform their tasks by deriving motion from elastic deformations. They are used in various applications, e.g., for handling fragile objects, navigating sensitive/complex environments, etc.,…
This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabilization. By adopting the screw theory formalism, we consider…
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,…
Practical use of robotic manipulators made from soft materials requires generating and executing complex motions. We present the first approach for generating trajectories of a thermally-actuated soft robotic manipulator. Based on…
This paper presents the design and assessment of a fabric-based soft pneumatic actuator with low pressurization requirements for actuation making it suitable for upper extremity assistive devices for infants. The goal is to support shoulder…
Topology optimization is a powerful tool utilized in various fields for structural design. However, its application has primarily been restricted to static or passively moving objects, mainly focusing on hard materials with limited…
Soft pneumatic gripping strategies are often based on pressurized actuation of structures made of soft elastomeric materials, which limits designs in terms of size, weight, achievable forces, and ease of fabrication. On the other hand,…
Handed Shearing Auxetics (HSA) are a promising structure for making electrically driven robots with distributed compliance that convert a motors rotation and torque into extension and force. We overcame past limitations on the range of…
Although research studies in pneumatic soft robots develop rapidly, most pneumatic actuators are still controlled by rigid valves and conventional electronics. The existence of these rigid, electronic components sacrifices the compliance…
Soft robotic grasping has rapidly spread through the academic robotics community in recent years and pushed into industrial applications. At the same time, multimaterial 3D printing has become widely available, enabling the monolithic…
For robot manipulation, both the controller and end-effector design are crucial. Soft grippers are generalizable by deforming to different geometries, but designing such a gripper and finding its grasp pose remains challenging. In this…
Large amplitude vibrations can cause hazards and failure to engineering structures. Active control has been an effective strategy to suppress vibrations, but it faces great challenges in the real-time control of nonlinear flexible…
Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic…
Compliant mechanisms actuated by pneumatic loads are receiving increasing attention due to their direct applicability as soft robots that perform tasks using their flexible bodies. Using multiple materials to build them can further improve…
Soft robotics technologies have gained growing interest in recent years, which allows various applications from manufacturing to human-robot interaction. Pneumatic artificial muscle (PAM), a typical soft actuator, has been widely applied to…
Soft-growing robots are innovative devices that feature plant-inspired growth to navigate environments. Thanks to their embodied intelligence of adapting to their surroundings and the latest innovation in actuation and manufacturing, it is…
Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodologies that take full advantage of body compliance. Currently…
Soft robots can execute tasks with safer interactions. However, control techniques that can effectively exploit the systems' capabilities are still missing. Differential dynamic programming (DDP) has emerged as a promising tool for…
In this article, the control problem of one section pneumatically actuated soft robotic arm is investigated in detail. To date, extensive prior work has been done in soft robotics kinematics and dynamics modeling. Proper controller designs…