Related papers: Stretchable Arduinos embedded in soft robots
To exploit the compliant capabilities of soft robot arms we require controller which can exploit their physical capabilities. Teleoperation, leveraging a human in the loop, is a key step towards achieving more complex control strategies.…
Soft robots, made from compliant materials, exhibit complex dynamics due to their flexibility and high degrees of freedom. Controlling soft robots presents significant challenges, particularly underactuation, where the number of inputs is…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…
Soft electronics are a promising and revolutionary alternative for traditional electronics when safe physical interaction between machines and the human body is required. Among various materials architectures developed for producing soft…
Deformable robots are notoriously difficult to model or control due to its high-dimensional configuration spaces. Direct trajectory optimization suffers from the curse-of-dimensionality and incurs a high computational cost, while…
The elastic bands integrated using the ruffles technique proved to be effective in enhancing the performance of the soft robotic structures. In the actuator application, the elastic bands greatly increased the bending capability and force…
The development of stretchable and flexible electronics based on soft polymeric substrates requires novel approaches in the design, fabrication, integration, and packaging of passive and active electronic components. Here we demonstrate the…
Training robots with reinforcement learning (RL) typically involves heavy interactions with the environment, and the acquired skills are often sensitive to changes in task environments and robot kinematics. Transfer RL aims to leverage…
Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…
Deployable structures, essential across various engineering applications ranging from umbrellas to satellites, are evolving to include soft, morphable designs where geometry drives transformation. However, a major challenge for soft…
Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…
Bio-inspired underwater vehicles could yield improved efficiency, maneuverability, and environmental compatibility over conventional propeller-driven underwater vehicles. However, to realize the swimming performance of biology, there is a…
Neuromorphic computing based on spiking neural networks has the potential to significantly improve on-line learning capabilities and energy efficiency of artificial intelligence, specially for edge computing. Recent progress in…
In this paper, we explore how techniques from soft robotics can help create a new form of robot expression. We present Sprout, a soft expressive robot that conveys its internal states by changing its body shape. Sprout can extend, bend,…
In nature, a variety of limbless locomotion patterns flourish from the small or basic life form (Escherichia coli, the amoeba, etc.) to the large or intelligent creatures (e.g., slugs, starfishes, earthworms, octopuses, jellyfishes, and…
Soft robots are compliant but often cannot support loads or hold their shape, while rigid robots provide structural strength but are less adaptable. Existing variable-stiffness systems usually operate at the scale of whole segments or…
Soft machines display shape adaptation to external circumstances due to their intrinsic compliance. To achieve increasingly more responsive behaviors upon interactions without relying on centralized computation, embodying memory directly in…
The current fabrication and assembly of fluidic circuits for soft robots relies heavily on manual processes; as the complexity of fluidic circuits increases, manual assembly becomes increasingly arduous, error-prone, and timeconsuming. We…
Tactile sensation is essential for humans to recognize objects. Various devices have been developed in the past for tactile presentation by electrostatic force, which are easy to configure devices, but there is currently no such device that…
Morphological regeneration is an important feature that highlights the environmental adaptive capacity of biological systems. Lack of this regenerative capacity significantly limits the resilience of machines and the environments they can…