Related papers: Exploring Stiffness Gradient Effects in Magnetical…
Exotic behaviour of mechanical metamaterials often relies on an internal transformation of the underlying microstructure triggered by its local instabilities, rearrangements, and rotations. Depending on the presence and magnitude of such a…
Mechanical metamaterials utilize geometry to achieve exceptional mechanical properties, including those not typically possible for traditional materials. To achieve these properties, it is necessary to identify the proper structures and…
This paper presents a novel digital control strategy successfully implemented for a soft magnetic material characterization bench (Epstein frame type). The main objective is to control the magnetic induction waveform whatever the applied…
Continuum robots with variable compliance have gained significant attention due to their adaptability in unstructured environments. Among various stiffness modulation techniques, layer jamming (LJ) provides a simple yet effective approach…
Deep learning training involves a large number of operations, which are dominated by high dimensionality Matrix-Vector Multiplies (MVMs). This has motivated hardware accelerators to enhance compute efficiency, but where data movement and…
Superconducting permanent magnets (SCs) with trapped magnetic flux are used in technical devices (motors, generators, etc.). These magnets endure repeated magnetic "shocks" during operation, which can affect their performance. In this work,…
Follow-the-leader (FTL) motion is essential for continuum robots operating in fragile and confined environments. It allows the robot to exert minimal force on its surroundings, reducing the risk of damage. This paper presents a novel design…
Although strain-based models have been widely adopted in robotics, no comparison beyond the uniform bending test is commonly recognized to assess their performance. In addition, the increasing effort in prototyping continuum robots…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
The paper focuses on the enhanced stiffness modeling of robotic manipulators by taking into account influence of the external force/torque acting upon the end point. It implements the virtual joint technique that describes the compliance of…
Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…
We present a novel method for optimizing the posture of kinematically redundant torque-controlled robots to improve robustness during impacts. A rigid impact model is used as the basis for a configuration-dependent metric that quantifies…
In this paper we model the size-effects of metamaterial beams under bending with the aid of the relaxed micromorphic continuum. We analyze first the size-dependent bending stiffness of heterogeneous fully discretized metamaterial beams…
Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…
Dynamical systems (DSs) provide a framework for high flexibility, robustness, and control reliability and are widely used in motion planning and physical human-robot interaction. The properties of the DS directly determine the robot's…
Navigating unknown three-dimensional (3D) rugged environments is challenging for multi-robot systems. Traditional discrete systems struggle with rough terrain due to limited individual mobility, while modular systems--where rigid,…
The manufacturing process of Sheet Molding Compound (SMC) influences the properties of a component in a non-deterministic fashion. To predict this influence on the mechanical performance, we develop a virtual process chain acting as a…
The optimal stiffness for soft swimming robots depends on swimming speed, which means no single stiffness can maximise efficiency in all swimming conditions. Tunable stiffness would produce an increased range of high-efficiency swimming…
A systematic and mechanistic connection between granular materials' macroscopic and grain level behaviors is developed for monodisperse systems of spherical elastic particles under die compaction. The Granular Micromechanics Approach (GMA)…
In continuum robotics, real-time robust shape estimation is crucial for planning and control tasks that involve physical manipulation in complex environments. In this paper, we present a novel stochastic observer-based shape estimation…