相关论文: A Soft Electronics-Free robot

Soft robots, inspired by elephant trunks or octopus arms, offer extraordinary flexibility to bend, twist, and elongate in ways that rigid robots cannot. However, their motion planning remains a challenge, especially in cluttered…

Machines designed for operation in Space, as well as other extreme environments, need to be both resilient and adaptable when mission parameters change. Soft robots offer advantages in adaptability, but most lack resilience to the pressure…

Magnetic soft robots embedded with hard magnetic particles enable untethered actuation via external magnetic fields, offering remote, rapid, and precise control, which is highly promising for biomedical applications. However, designing such…

A wide range of microorganisms, e.g. bacteria, propel themselves by rotation of soft helical tails, also known as flagella. Due to the small size of these organisms, viscous forces overwhelm inertial effects and the flow is at low Reynolds…

In order for autonomous robots to be able to support people's well-being in homes and everyday environments, new interactive capabilities will be required, as exemplified by the soft design used for Disney's recent robot character Baymax in…

Underwater robotics has advanced significantly over recent decades. however, the development of miniaturized underwater robots remains limited by low energy densities of traditional power sources. Nature offers compelling…

Passive elastic elements can contribute to stability, energetic efficiency, and impact absorption in both biological and robotic systems. They also add dynamical complexity which makes them more challenging to model and control. The impact…

We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor and a low-gear-ratio transmission suitable for impedance and…

Biological systems are very robust to morphological damage, but artificial systems (robots) are currently not. In this paper we present a system based on neural cellular automata, in which locomoting robots are evolved and then given the…

Biological muscles have always attracted robotics researchers due to their efficient capabilities in compliance, force generation, and mechanical work. Many groups are working on the development of artificial muscles, however,…

Soft and pliable conductive polymer composites hold promise for application as bioelectronic interfaces such as for electroencephalography (EEG). In clinical, laboratory, and real-world EEG there is a desire for dry, soft, and comfortable…

Soft robots are powerful tools for manipulating delicate objects, yet their adoption is hindered by two gaps: the lack of integrated tactile sensing and sensor signal distortion caused by actuator deformations. This paper addresses these…

Soft robots exhibit inherent compliance and safety, which makes them particularly suitable for applications requiring direct physical interaction with humans, such as surgical procedures. However, their nonlinear and hysteretic behavior,…

To design a general-purpose assembly robot system that can handle objects of various shapes, we propose a soft jig that fits to the shapes of assembly parts. The functionality of the soft jig is based on a jamming gripper developed in the…

In this paper we introduce a novel approach that enables users to interact with a mobile robot in a natural manner. The proposed interaction system does not require any specific infrastructure or device, but relies on commonly utilized…

Untethered soft robots that locomote using electrothermally-responsive materials like shape memory alloy (SMA) face challenging design constraints for sensing actuator states. At the same time, modeling of actuator behaviors faces steep…

Snake robots have been studied for decades with the aim of achieving biological snakes' fluent locomotion. Yet, as of today, their locomotion remains far from that of the biological snakes. Our recent study suggested that snake locomotion…

Classical rigid-bodied robotic systems are presented with proven success in theoretical development and industrial applications, are recently challenged by the emergence of soft robotics due to a growing need in physical human-robot…

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…

We present the design and experimental results of the first 1-DOF, hip-actuated bipedal robot. While passive dynamic walking is simple by nature, many existing bipeds inspired by this form of walking are complex in control, mechanical…