Related papers: Soft yet Effective Robots via Holistic Co-Design
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
Recent advancements in soft actuators have enabled soft continuum swimming robots to achieve higher efficiency and more closely mimic the behaviors of real marine animals. However, optimizing the design and control of these soft continuum…
The coordinated assurance of interrelated critical properties, such as system safety and cyber-security, is one of the toughest challenges in critical systems engineering. In this chapter, we summarise approaches to the coordinated…
Simulation is an important step in robotics for creating control policies and testing various physical parameters. Soft robotics is a field that presents unique physical challenges for simulating its subjects due to the nonlinearity of…
Forensic mental health care involves the treatment of individuals with severe mental disorders who have committed violent offences. These settings are often characterized by high levels of bureaucracy, risk avoidance, and restricted…
Emerging applications of robotics, and concerns about their impact, require the research community to put human-centric objectives front-and-center. To meet this challenge, we advocate an interdisciplinary approach, socially cognizant…
Tailoring the design of robot bodies for control purposes is implicitly performed by engineers, however, a methodology or set of tools is largely absent and optimization of morphology (shape, material properties of robot bodies, etc.) is…
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…
Machines that mimic humans have inspired scientists for centuries. Bio-inspired soft robotic hands are a good example of such an endeavor, featuring intrinsic material compliance and continuous motion to deal with uncertainty and adapt to…
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…
Ergonomics is a key factor to consider when designing control architectures for effective physical collaborations between humans and humanoid robots. In contrast, ergonomic indexes are often overlooked in the robot design phase, which leads…
In robotics, structural design and behavior optimization have long been considered separate processes, resulting in the development of systems with limited capabilities. Recently, co-design methods have gained popularity, where bi-level…
Soft robotic hands promise to provide compliant and safe interaction with objects and environments. However, designing soft hands to be both compliant and functional across diverse use cases remains challenging. Although co-design of…
We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel…
Collaborative robots are increasingly deployed alongside humans in factories, hospitals, schools, and other domains to enhance teamwork and efficiency. Systems that seamlessly integrate humans and robots into cohesive teams for coordinated…
As robots enter the messy human world so the vital matter of safety takes on a fresh complexion with physical contact becoming inevitable and even desirable. We report on an artistic-exploration of how dancers, working as part of a…
Collaborative robots, or cobots, are increasingly integrated into various industrial and service settings to work efficiently and safely alongside humans. However, for effective human-robot collaboration, robots must reason based on human…
As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…
In evolutionary robotics, jointly optimising the design and the controller of robots is a challenging task due to the huge complexity of the solution space formed by the possible combinations of body and controller. We focus on the…
Wearable robots are undergoing a disruptive transition, from the rigid machines that populated the science-fiction world in the early eighties to lightweight robotic apparel, hardly distinguishable from our daily clothes. In less than a…