Related papers: Modeling and Control of a Pneumatic Morphing Soft …
Soft robotic manipulators provide numerous advantages over conventional rigid manipulators in fragile environments such as the marine environment. However, developing analytic inverse models necessary for shape, motion, and force control of…
Practical use of robotic manipulators made from soft materials requires generating and executing complex motions. We present the first approach for generating trajectories of a thermally-actuated soft robotic manipulator. Based on…
Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reconfigurable soft robotic end-effectors can adapt their shape…
We present a parallel robot mechanism and the constitutive laws that govern the deformation of its constituent soft actuators. Our ultimate goal is the real-time motion-correction of a patient's head deviation from a target pose where the…
Numerous soft actuators based on PneuNet design have already been proposed and extensively employed across various soft robotics applications in recent years. Despite their widespread use, a common limitation of most existing designs is…
Computational design can excite the full potential of soft robotics that has the drawbacks of being highly nonlinear from material, structure, and contact. Up to date, enthusiastic research interests have been demonstrated for individual…
Compliant walls are widespread in biological and engineering systems. Because of their singular nature, adapted tools are required to accurately study their rheological properties as well as the consequences of the latter within a given…
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…
Compared with traditional rigid-body robots, soft robots not only exhibit unprecedented adaptation and flexibility but also present novel challenges in their modeling and control because of their infinite degrees of freedom. Most of the…
This paper presents the design and dynamic modelling of a soft pneumatic actuator that can be used to mimic snake or worm-like locomotion. The bond graph technique is used to derive the dynamics of the actuator. To validate the accuracy of…
Beyond providing accurate movements, achieving smooth motion trajectories is a long-standing goal of robotics control theory for arms aiming to replicate natural human movements. Drawing inspiration from biological agents, whose reaching…
To rationalize the relatively high investment that industrial automation systems entail, research in the field of intelligent machines should target high value functions such as fettling, die-finishing, deburring, and fixtureless…
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…
Soft robots have proven to outperform traditional robots in applications related to propagation in geometrically constrained environments. Designing these robots and their controllers is an intricate task, since their building materials…
Active soft bodies can affect their shape through an internal actuation mechanism that induces a deformation. Similar to recent work, this paper utilizes a differentiable, quasi-static, and physics-based simulation layer to optimize for…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
Object manipulation in robotics faces challenges due to diverse object shapes, sizes, and fragility. Gripper-based methods offer precision and low degrees of freedom (DOF) but the gripper limits the kind of objects to grasp. On the other…
In this paper, we propose a novel vision-based control algorithm for regulating the whole body shape of extensible multisection soft continuum manipulators. Contrary to existing vision-based control algorithms in the literature that…
Parallel robots based on Handed Shearing Auxetics (HSAs) can implement complex motions using standard electric motors while maintaining the complete softness of the structure, thanks to specifically designed architected metamaterials.…
Track systems effectively distribute loads, augmenting traction and maneuverability on unstable terrains, leveraging their expansive contact areas. This tracked locomotion capability also aids in hand manipulation of not only regular…