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In this paper, we present a novel and generic data-driven method to servo-control the 3-D shape of continuum and soft robots embedded with fiber Bragg grating (FBG) sensors. Developments of 3-D shape perception and control technologies are…
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,…
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…
The design process and complexity of existing safety controls are heavily determined by the geometrical properties of the environment, which affects the proof of convergence, design scalability, performance robustness, and numerical…
While much work has been done recently in the realm of model-based control of soft robots and soft-rigid hybrids, most works examine robots that have an inherently serial structure. While these systems have been prevalent in the literature,…
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…
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…
Both the design and control of a robot play equally important roles in its task performance. However, while optimal control is well studied in the machine learning and robotics community, less attention is placed on finding the optimal…
Conventional mobile tensegrity robots constructed with straight links offer mobility at the cost of locomotion speed. While spherical robots provide highly effective rolling behavior, they often lack the stability required for navigating…
Due to their ability to move without sliding relative to their environment, soft growing robots are attractive for deploying distributed sensor networks in confined spaces. Sensing of the state of such robots would also add to their…
The Finite Element Method (FEM) is a powerful modeling tool for predicting the behavior of soft robots. However, its use for control can be difficult for non-specialists of numerical computation: it requires an optimization of the…
Robot co-design, where the morphology of a robot is optimized jointly with a learned policy to solve a specific task, is an emerging area of research. It holds particular promise for soft robots, which are amenable to novel manufacturing…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
We present and derive a technique for the introduction of defects into a beam model based on the Cosserat theory of rods. The technique is designed for the derivation of component models of non-ideal rods for use in MEMS devices. We also…
A novel motion control system for Compliant Framed wheeled Modular Mobile Robots (CFMMR) is studied in this paper. This type of wheeled mobile robot uses rigid axles coupled by compliant frame modules to provide both full suspension and…
Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and…
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…
Continuum parallel robots (CPR) combine rigid actuation mechanisms with multiple elastic rods in a closed-loop topology, making forward statics challenging when rigid--continuum junctions are enforced by explicit kinematic constraints. Such…
Soft, vine-inspired growing robots that move by eversion are highly mobile in confined environments, but, when faced with gaps in the environment, they may collapse under their own weight while navigating a desired path. In this work, we…
We propose reaching steps towards the real-time strain control of multiphysics, multiscale continuum soft robots. To study this problem fundamentally, we ground ourselves in a model-based control setting enabled by mathematically precise…