Related papers: A General Lie-Group Framework for Continuum Soft R…
Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…
Controlling soft continuum robotic arms is challenging due to their hyper-redundancy and dexterity. In this paper we demonstrate, for the first time, closed-loop control of the configuration space variables of a soft robotic arm, composed…
This work considers the problem of estimating the unscaled relative positions of a multi-robot team in a common reference frame from bearing-only measurements. Each robot has access to a relative bearing measurement taken from the local…
Accurate models of robot dynamics are critical for safe and stable control and generalization to novel operational conditions. Hand-designed models, however, may be insufficiently accurate, even after careful parameter tuning. This…
State estimation is one of the fundamental problems in robotics. For soft continuum robots, this task is particularly challenging because their states (poses, strains, internal wrenches, and velocities) are inherently infinite-dimensional…
This paper introduces a Cosserat rod based mathematical model for modeling a self-controllable variable curvature soft continuum robot. This soft continuum robot has a hollow inner channel and was developed with the ability to perform…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
Continuum and soft robots can transform diverse sectors, including healthcare, agriculture, marine, and space, thanks to their potential to adaptively interact with unstructured environments. These robots exhibit complex mechanics that pose…
Robotics is shifting from rigid, articulated systems to more sophisticated and heterogeneous mechanical structures. Soft robots, for example, have continuously deformable elements capable of large deformations. The flourishing of control…
Dynamic maneuvers for legged robots present a difficult challenge due to the complex dynamics and contact constraints. This paper introduces a versatile trajectory optimization framework for continuous-time multi-phase problems. We…
In this letter, we demonstrate that previously proposed improved state parameterizations for soft and continuum robots are specific cases of Clarke coordinates. By explicitly deriving these improved parameterizations from a generalized…
The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions have been presented to overcome the difficulties related to…
Soft robotics is an emerging field of research where the robot body is composed of compliant and soft materials. It allows the body to bend, twist, and deform to move or to adapt its shape to the environment for grasping, all of which are…
Continuum robots suffer large deflections due to internal and external forces. Accurate modeling of their passive compliance is necessary for accurate environmental interaction, especially in scenarios where direct force sensing is not…
This paper reports a novel result: with proper robot models on matrix Lie groups, one can formulate the kinodynamic motion planning problem for rigid body systems as \emph{exact} polynomial optimization problems that can be relaxed as…
The robotic shape control of deformable linear objects has garnered increasing interest within the robotics community. Despite recent progress, the majority of shape control approaches can be classified into two main groups: open-loop…
Inspired by the embodied intelligence of biological creatures like the octopus, the soft robotic arm utilizes its highly flexible structure to perform various tasks in the complex environment. While the classic Cosserat rod theory…
The characteristic ``in-plane" bending associated with soft robots' deformation make them preferred over rigid robots in sophisticated manipulation and movement tasks. Executing such motion strategies to precision in soft deformable robots…
The robotic shape control of deformable linear objects has garnered increasing interest within the robotics community. Despite recent progress, the majority of shape control approaches can be classified into two main groups: open-loop…
Soft robotics has been a trending topic within the robotics community for almost two decades. However, available tools for the modeling and analysis of soft robots are still limited. This paper introduces a user-friendly MATLAB toolbox,…