Related papers: SPONGE: Open-Source Designs of Modular Articulated…
Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…
Soft robotic systems are known for their flexibility and adaptability, but traditional physics-based models struggle to capture their complex, nonlinear behaviors. This study explores a data-driven approach to modeling the…
This paper describes the Pogobot, an open-source platform specifically designed for research at the interface of swarm robotics and active matter. Pogobot features vibration-based or wheel-based locomotion, fast infrared communication, and…
Pneumatic soft everting robotic structures have the potential to facilitate human transfer tasks due to their ability to grow underneath humans without sliding friction and their utility as a flexible sling when deflated. Tubular structures…
There is a surge of research interest in the field of tensegrity robotics. Robots developed under this paradigm provide many advantages and have distinguishing features in terms of structural compliance, dexterity, safety, and weight…
While robots are increasingly integrated into the built environment, little is known how their qualities can meaningfully influence our spaces to facilitate enjoyable and agreeable interaction, rather than robotic settings that are driven…
Construction throughout history typically assumes that its blueprints and building blocks are pre-determined. However, recent work suggests that alternative approaches can enable new paradigms for structure formation. Aleatory…
We introduce shape-changing swarm robots. A swarm of self-transformable robots can both individually and collectively change their configuration to display information, actuate objects, act as tangible controllers, visualize data, and…
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…
Back injuries are the most prevalent work-related musculoskeletal disorders and represent a major cause of disability. Although innovations in wearable robots aim to alleviate this hazard, the majority of existing exoskeletons are obtrusive…
Soft robots can safely interact with environments because of their mechanical compliance. Self-collision is also employed in the modern design of soft robots to enhance their performance during different tasks. However, developing an…
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,…
The morphology of a slender soft-robot can be modified by sensing its shape via sensors and exerting moments via actuators embedded along its body. The actuating moments required to morph these soft-robots to a desired shape are often…
Due to the complexity of robotics, the reproducibility of results and experiments is one of the fundamental problems in robotics research. While the problem has been identified by the community, the approaches that address the problem…
Variable stiffness is a key capability in biological and robotic systems, enabling adaptive interaction across tasks and environments. Mechanical metamaterials offer an alternative to conventional mechatronic solutions by encoding stiffness…
In this paper we present an open source educational robot, designed both to engage children in an affective and social interaction, and to be programmable also in its social and affective behaviour. Indeed the robot, in addition to classic…
This paper summarizes the most recent research in soft robotic field from the factors of material, actuation, mechanicsproperty, dimension & scale and architecture, and then presents the relations among the functionalities, manufacturing…
Recent advances in 3D printing and manufacturing of miniaturized robotic hardware and computing are paving the way to build inexpensive and disposable robots. This will have a large impact on several applications including scientific…
Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new…
Designing robots capable of generating interpretable behavior is a prerequisite for achieving effective human-robot collaboration. This means that the robots need to be capable of generating behavior that aligns with human expectations and,…