Related papers: Feedback Regulated Opto-Mechanical Soft Robotic Ac…
We propose a framework for designing coherent optical environments that enable versatile and dynamic optical manipulation. In contrast to conventional material-based near-field platforms, our approach employs a structured coherent light…
Continuum soft robots are mechanical systems entirely made of continuously deformable elements. This design solution aims to bring robots closer to invertebrate animals and soft appendices of vertebrate animals (e.g., an elephant's trunk, a…
There is a growing need for robots that can change their shape, size and mechanical properties to adapt to evolving tasks and environments. However, current shape-changing systems generally utilize bespoke, system-specific mechanisms that…
Living materials adapt their shape to signals from the environment, yet the impact of shape changes on signal processing and associated feedback dynamics remain unclear. We find that droplets with signal-responsive interfacial tensions…
Physical interaction between humans and robots can help robots learn to perform complex tasks. The robot arm gains information by observing how the human kinesthetically guides it throughout the task. While prior works focus on how the…
This paper presents a model-free adaptive control approach to suppress vibrations in a cantilevered beam excited by an unknown disturbance. The cantilevered beam under harmonic excitation is modeled using a lumped parameter approach. Based…
Learning the inverse dynamics of soft continuum robots remains challenging due to high-dimensional nonlinearities and complex actuation coupling. Conventional feedback-based controllers often suffer from control chattering due to corrective…
Feedback loops are major components of biochemical systems. Many systems show multiple such (positive or negative) feedback loops. Nevertheless, very few quantitative analyses address the question how such multiple feedback loops evolved.…
Biomimetic entirely soft robots with animal-like behavior and integrated artificial nervous systems will open up totally new perspectives and applications. However, until now all presented studies on soft robots were limited to partly soft…
Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation…
Problem of damping of an arbitrary number of linear oscillators under common bounded control is considered. We are looking for a feedback control steering the system to the equilibrium. The obtained control is asymptotically optimal: the…
In this work, we present a multimodal system for active robot-object interaction using laser-based SLAM, RGBD images, and contact sensors. In the object manipulation task, the robot adjusts its initial pose with respect to obstacles and…
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…
Sensory feedback is essential for the control of soft robotic systems and to enable deployment in a variety of different tasks. Proprioception refers to sensing the robot's own state and is of crucial importance in order to deploy soft…
Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…
An underdeveloped capability in soft robotics is proprioceptive feedback control, where soft actuators can be sensed and controlled using only sensors on the robot's body. Additionally, soft actuators are often unable to support human-scale…
The human shoulder, with its glenohumeral joint, tendons, ligaments, and muscles, allows for the execution of complex tasks with precision and efficiency. However, current robotic shoulder designs lack the compliance and compactness…
Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…
Current micro nanomechanical system are usually based on rigid crystalline semiconductors that normally have high quality factors but lack adaptive responses to variable frequencies, a capability ubiquitous for communications in the…
We present Shape-Haptics, an approach for designers to rapidly design and fabricate passive force feedback mechanisms for physical interfaces. Such mechanisms are used in everyday interfaces and tools, and they are challenging to design.…