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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…

In this paper, we introduce a novel open source toolbox for design optimization in Soft Robotics. We consider that design optimization is an important trend in Soft Robotics that is changing the way in which designs will be shared and…

This paper deals with combination of two modern engineering methods in order to optimise the shape of a representative casting product. The product being analysed is a sling, which is used to attach pulling rope in timber transportation.…

Soft robots offer adaptability and safe interaction with complex environments. Rapid prototyping kits that allow soft robots to be assembled easily will allow different geometries to be explored quickly to suit different environments or to…

The paper focuses on the accuracy improvement of stiffness models for parallel manipulators, which are employed in high-speed precision machining. It is based on the integrated methodology that combines analytical and numerical techniques…

Magnetic soft robots embedded with hard magnetic particles enable untethered actuation via external magnetic fields, offering remote, rapid, and precise control, which is highly promising for biomedical applications. However, designing such…

Soft-growing robots are innovative devices that feature plant-inspired growth to navigate environments. Thanks to their embodied intelligence of adapting to their surroundings and the latest innovation in actuation and manufacturing, it is…

Soft robot arms have made significant progress towards completing human-scale tasks, but designing arms for tasks with specific load and workspace requirements remains difficult. A key challenge is the lack of model-based design tools,…

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…

The global agri-food sector faces increasing challenges from labour shortages, high consumer demand, and supply-chain disruptions, resulting in substantial losses of unharvested produce. Robotic harvesting has emerged as a promising…

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 robots offer remarkable adaptability and safety advantages over rigid robots, but modeling their complex, nonlinear dynamics remains challenging. Strain-based models have recently emerged as a promising candidate to describe such…

Soft robots are inherently compliant and have a strong potential to realize human-friendly and safe robots. Despite continued research highlighting the potential of soft robots, they remain largely confined to laboratory settings. In this…

Soft robotics is a modern robotic paradigm for performing dexterous interactions with the surroundings via morphological flexibility. The desire for autonomous operation requires soft robots to be capable of proprioception and makes it…

The deployment of complex soft robots in multiphysics environments requires advanced simulation frameworks that not only capture interactions between different types of material, but also translate accurately to real-world performance. Soft…

Soft robots have gained significant attention due to their flexibility and safety, particularly in human-centric applications. The co-design of structure and controller in soft robotics has presented a longstanding challenge owing to the…

Simulators are an important tool in robotics that is used to develop robot software and generate synthetic data for machine learning algorithms. Faster simulation can result in better software validation and larger amounts of data. Previous…

Task-driven design of soft robots requires models that are physically accurate and computationally efficient, while remaining transferable across actuator designs and task scenarios. However, existing modeling approaches typically face a…

We automate soft robotic hand design iteration by co-optimizing design and control policy for dexterous manipulation skills in simulation. Our design iteration pipeline combines genetic algorithms and policy transfer to learn control…

Compliant grippers, owing to adaptivity and safety, have attracted considerable attention for unstructured grasping in real applications, such as industrial or logistic scenarios. However, accurately modeling the bidirectional relationship…