相关论文: Bio-inspired Tensegrity Soft Modular Robots
Locomotive soft robots (SoRos) have gained prominence due to their adaptability. Traditional locomotive SoRo design is based on limb structures inspired by biological organisms and requires human intervention. Evolutionary robotics,…
The automatic shape control of deformable objects is a challenging (and currently hot) manipulation problem due to their high-dimensional geometric features and complex physical properties. In this study, a new methodology to manipulate…
Skeletal muscles are living tissues that can undergo large deformations in short periods of time and that can be activated to produce force. In this paper we use the principles of continuum mechanics to propose a dynamic, fully non-linear,…
For robot manipulation, both the controller and end-effector design are crucial. Soft grippers are generalizable by deforming to different geometries, but designing such a gripper and finding its grasp pose remains challenging. In this…
We present the design, characterization, and experimental results for a new modular robotic system for programmable self-assembly. The proposed system uses the Hybrid Cube Model (HCM), which integrates classical features from both…
Modular Active Cell Robots (MACROs) are a design paradigm for modular robotic hardware that uses only two components, namely actuators and passive compliant joints. Under the MACRO approach, a large number of actuators and joints are…
Electrically-driven soft robots based on piezoelectric actuators may enable compact form factors and maneuverability in complex environments. In most prior work, piezoelectric actuators are used to control a single degree of freedom. In…
Soft slender robots have attracted more and more research attentions in these years due to their continuity and compliance natures. However, mechanics modeling for soft robots interacting with environment is still an academic challenge…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
Shape change enables new capabilities for robots. One class of robots capable of dramatic shape change is soft growing "vine" robots. These robots usually feature global actuation methods for bending that limit them to simple,…
We propose a novel mechanism that propagates vibration through soft twisted beams, taking advantage of dynamically-coupled anisotropic stiffness to simplify the actuation of walking robots. Using dynamic simulation and experimental…
This paper presents a new teleoperated spherical tensegrity robot capable of performing locomotion on steep inclined surfaces. With a novel control scheme centered around the simultaneous actuation of multiple cables, the robot demonstrates…
A tensegrity-based system is a promising approach for dynamic exploration of uneven and unpredictable environments, particularly, space exploration. However, implementing such systems presents challenges in terms of intelligent aspects:…
Biological structural designs in nature, like hoof walls, horns, and antlers, can be used as inspiration for generating structures with excellent mechanical properties. A common theme in these designs is the small percent porosity in the…
The efficient optimization of actuated soft structures, particularly under complex nonlinear forces, remains a critical challenge in advancing robotics. Simulations of nonlinear structures, such as soft-bodied robots modeled using the…
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…
Robotic assistance has significantly improved the outcomes of open microsurgery and rigid endoscopic surgery, however is yet to make an impact in flexible endoscopic neurosurgery. Some of the most common intracranial procedures for…
Robotic arms built from stiffness-adjustable, continuously bending segments serially connected with revolute joints have the ability to change their mechanical architecture and workspace, thus allowing high flexibility and adaptation to…
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…