Related papers: Data Driven Approach to Input Shaping for Vibratio…
Laparoscope-holding robots can provide surgeons with a stable laparoscopic field of view (FOV) and reduce the burden on human assistants. To maintain an ideal intraoperative FOV, the robot must continuously adjust the laparoscope pose…
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…
This paper presents the application of a learning control approach for the realization of a fast and reliable pick-and-place application with a spherical soft robotic arm. The arm is characterized by a lightweight design and exhibits…
Compared to traditional rigid robotics, soft robotics has attracted increasing attention due to its advantages as compliance, safety, and low cost. As an essential part of soft robotics, the soft robotic gripper also shows its superior…
Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation of this approach. The proposed method is an iterative…
Modern robotics is gravitating toward increasingly collaborative human robot interaction. Tools such as acceleration policies can naturally support the realization of reactive, adaptive, and compliant robots. These tools require us to model…
This paper presents a soft propelled arm, 3D-printed in TPU 70A, designed to be used in flexible UAVs, an advantageous concept since it reduces risk in the event of a collision thanks to a high energy absorption. The proposed design also…
Controller design for soft robots is challenging due to nonlinear deformation and high degrees of freedom of flexible material. The data-driven approach is a promising solution to the controller design problem for soft robots. However, the…
Deep reinforcement learning trains neural networks using experiences sampled from the replay buffer, which is commonly updated at each time step. In this paper, we propose a method to update the replay buffer adaptively and selectively to…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…
While shared autonomy offers significant potential for assistive robotics, key questions remain about how to effectively map 2D control inputs to 6D robot motions. An intuitive framework should allow users to input commands effortlessly,…
Soft pneumatic actuators (SPAs) produce motions for soft robots with simple pressure input, however they require to be appropriately designed to fit the target application. Available design methods employ kinematic models and optimization…
Soft robots can execute tasks with safer interactions. However, control techniques that can effectively exploit the systems' capabilities are still missing. Differential dynamic programming (DDP) has emerged as a promising tool for…
Modelling of contact-rich tasks is challenging and cannot be entirely solved using classical control approaches due to the difficulty of constructing an analytic description of the contact dynamics. Additionally, in a manipulation task like…
This paper presents an application of the energy shaping methodology to control a flexible, elastic Cosserat rod model of a single octopus arm. The novel contributions of this work are two-fold: (i) a control-oriented modeling of the…
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers adaptively conform to object shapes…
This paper proposes a novel pneumatic soft robotic hand that incorporates a mechanism that can switch the airflow path using a single airflow control. The developed hand can control the finger motion and operate the surface friction…
Soft robots have immense potential given their inherent safety and adaptability, but challenges in soft actuator forces and design constraints have limited scaling up soft robots to larger sizes. Electrothermal shape memory alloy (SMA)…
This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motion. To optimize the design for different scenarios, we select…
Attempts to achieve robotic Within-Hand-Manipulation (WIHM) generally utilize either high-DOF robotic hands with elaborate sensing apparatus or multi-arm robotic systems. In prior work we presented a simple robot hand with variable friction…