Related papers: UMArm: Untethered, Modular, Portable, Soft Pneumat…
Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…
Most of the quadrupeds developed are highly actuated, and their control is hence quite cumbersome. They need advanced electronics equipment to solve convoluted inverse kinematic equations continuously. In addition, they demand special and…
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…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
Multimodal locomotion is crucial for an animal's adaptability in unstructured wild environments. Similarly, in the human gastrointestinal tract, characterized by viscoelastic mucus, complex rugae, and narrow sphincters like the cardia,…
Non-prehensile planar manipulation, including pushing and press-and-slide, is critical for diverse robotic tasks, but notoriously challenging due to hybrid contact mechanics, under-actuation, and asymmetric friction limits that…
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…
Safe yet stable grasping requires a robotic hand to apply sufficient force on the object to immobilize it while keeping it from getting damaged. Soft robotic hands have been proposed for safe grasping due to their passive compliance, but…
Inflated continuum robots are promising for a variety of navigation tasks, but controlling their motion with a small number of actuators is challenging. These inflated beam robots tend to buckle under compressive loads, producing extremely…
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…
Continuum and soft robots can leverage complex actuator shapes to take on useful shapes while actuating only a few of their many degrees of freedom. Continuum robots that also grow increase the range of potential shapes that can be actuated…
This work focuses on closed-loop control based on proprioceptive feedback for a pneumatically-actuated soft wearable device aimed at future support of infant reaching tasks. The device comprises two soft pneumatic actuators (one…
The functional replication and actuation of complex structures inspired by nature is a longstanding goal for humanity. Creating such complex structures combining soft and rigid features and actuating them with artificial muscles would…
This chapter is about the fundamentals of fabrication, control, and human-robot interaction of a new type of collaborative robotic manipulators, called malleable robots, which are based on adjustable architectures of varying stiffness for…
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…
This paper presents a novel simulation platform, ZeMa, designed for robotic manipulation tasks concerning soft objects. Such simulation ideally requires three properties: two-way soft-rigid coupling, intersection-free guarantees, and…
Real-world manipulation data involving robotic arms is crucial for developing generalist action policies, yet such data remains scarce since existing data collection methods are hindered by high costs, hardware dependencies, and complex…
Magnetic navigation systems, including magnetic tracking systems and magnetic actuation systems, have shown great potential for occlusion-free localization and remote control of intracorporeal medical devices and robots in minimally…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
Wheelchairs and robotic arms enhance independent living by assisting individuals with upper-body and mobility limitations in their activities of daily living (ADLs). Although recent advancements in assistive robotics have focused on…