Related papers: Dynamic single-input control of multi-state multi-…

With soft robotics being increasingly employed in settings demanding high and controlled contact forces, recent research has demonstrated the use of soft robots to estimate or intrinsically sense forces without requiring external sensing…

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…

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…

Although soft robots show safer interactions with their environment than traditional robots, soft mechanisms and actuators still have significant potential for damage or degradation particularly during unmodeled contact. This article…

In this paper, a reinforced soft robot prototype with a custom-designed actuator-space string encoder are created to investigate dynamic soft robotic trajectory tracking. The soft robot prototype embedded with the proposed adaptive…

In this work we present a framework that is capable of accurately representing soft robotic actuators in a multiphysics environment in real-time. We propose a constraint-based dynamics model of a 1-dimensional pneumatic soft actuator that…

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,…

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…

Closed-loop control remains an open challenge in soft robotics. The nonlinear responses of soft actuators under dynamic loading conditions limit the use of analytic models for soft robot control. Traditional methods of controlling soft…

Classical rigid-bodied robotic systems are presented with proven success in theoretical development and industrial applications, are recently challenged by the emergence of soft robotics due to a growing need in physical human-robot…

The ability of a soft robot to perform specific tasks is determined by its contact configuration, and transitioning between configurations is often necessary to reach a desired position or manipulate an object. Based on this observation, we…

Magnetic-responsive composites that consist of soft matrix embedded with hard-magnetic particles have recently been demonstrated as robust soft active materials for fast-transforming actuation. However, the deformation of the functional…

The design of robots that are light, soft, powerful is a grand challenge. Since they can easily adapt to dynamic environments, soft robotic systems have the potential of changing the status-quo of bulky robotics. A crucial component of soft…

This paper present a novel dual-speed actuator adapted to robotics. In many applications, robots have to bear large loads while moving slowly and also have to move quickly through the air with almost no load. This lead to conflicting…

Soft actuators have drawn significant attention from researchers with an inherently compliant design to address the safety issues in physical human-robot interactions. However, they are also vulnerable and pose new challenges in the design,…

Soft robots are distinguished by their flexibility and adaptability, allowing them to perform nearly impossible tasks for rigid robots. However, controlling their behavior is challenging due to their nonlinear material response and infinite…

Snapping instabilities in soft structures offer a powerful pathway to achieve rapid and energy-efficient actuation. In this study, an eccentric dome-shaped snapping actuator is developed to generate controllable asymmetric motion through…

To ensure that a robot is able to accomplish an extensive range of tasks, it is necessary to achieve a flexible combination of multiple behaviors. This is because the design of task motions suited to each situation would become increasingly…

Inspired by the vertebrate branch of the animal kingdom, articulated soft robots are robotic systems embedding elastic elements into a classic rigid (skeleton-like) structure. Leveraging on their bodies elasticity, soft robots promise to…

Robotic legs have bimodal operations: swing phases when the leg needs to move quickly in the air (high-speed, low-force) and stance phases when the leg bears the weight of the system (low-speed, high-force). Sizing a traditional…