Related papers: Controlling Deformable Objects with Non-negligible…

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…

Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…

This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…

Compared with traditional rigid-body robots, soft robots not only exhibit unprecedented adaptation and flexibility but also present novel challenges in their modeling and control because of their infinite degrees of freedom. Most of the…

Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…

We demonstrate model-based, visual robot manipulation of linear deformable objects. Our approach is based on a state-space representation of the physical system that the robot aims to control. This choice has multiple advantages, including…

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…

In this paper, we propose a novel vision-based control algorithm for regulating the whole body shape of extensible multisection soft continuum manipulators. Contrary to existing vision-based control algorithms in the literature that…

Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion of soft bodies alongside actuator dynamics and…

We address the challenge of learning to manipulate deformable objects with unknown dynamics. In non-rigid objects, the dynamics parameters define how they react to interactions -- how they stretch, bend, compress, and move -- and they are…

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…

Soft robots have gained increased popularity in recent years due to their adaptability and compliance. In this paper, we use a digital twin model of cable-driven soft robots to learn control parameters in simulation. In doing so, we take…

Robotic manipulation of slender objects is challenging, especially when the induced deformations are large and nonlinear. Traditionally, learning-based control approaches, such as imitation learning, have been used to address deformable…

Robotic manipulation of deformable objects is a difficult problem especially because of the complexity of the many different ways an object can deform. Searching such a high dimensional state space makes it difficult to recognize, track,…

Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reconfigurable soft robotic end-effectors can adapt their shape…

Soft robots are typically approximated as low-dimensional systems, especially when learning-based methods are used. This leads to models that are limited in their capability to predict the large number of deformation modes and interactions…

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…

Controlling soft continuum robotic arms is challenging due to their hyper-redundancy and dexterity. In this paper we demonstrate, for the first time, closed-loop control of the configuration space variables of a soft robotic arm, composed…

Precise shape control of Deformable Linear Objects (DLOs) is crucial in robotic applications such as industrial and medical fields. However, existing methods face challenges in handling complex large deformation tasks, especially those…

This paper is concerned with the problem of estimating (interpolating and smoothing) the shape (pose and the six modes of deformation) of a slender flexible body from multiple camera measurements. This problem is important in both biology,…