相关论文: A Flexible Connector for Soft Modular Robots Based…
Soft pneumatic gripping strategies are often based on pressurized actuation of structures made of soft elastomeric materials, which limits designs in terms of size, weight, achievable forces, and ease of fabrication. On the other hand,…
Torque and continuous rotation are fundamental methods of actuation and manipulation in rigid robots. Soft robot arms use soft materials and structures to mimic the passive compliance of biological arms that bend and extend. This use of…
Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint…
The disassembly of small household appliances poses significant challenges due to their complex and curved geometries, which render traditional rigid fixtures inadequate. In this paper, we propose a modular vacuum-based fixturing system…
Birds in nature perform perching not only for rest but also for interaction with human such as the relationship with falconers. Recently, researchers achieve perching-capable aerial robots as a way to save energy, and deformable structure…
Bio-inspired soft robots have already shown the ability to handle uncertainty and adapt to unstructured environments. However, their availability is partially restricted by time-consuming, costly and highly supervised design-fabrication…
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…
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers adaptively conform to object shapes…
Over the past few decades, efforts have been made towards robust robotic grasping, and therefore dexterous manipulation. The soft gripper has shown their potential in robust grasping due to their inherent properties-low, control complexity,…
The shear response of soft solids can be modeled with linear elasticity, provided the forcing is slow and weak. Both of these approximations must break down when the material loses rigidity, such as in foams and emulsions at their…
Functional magnetic composites capable of large deformation, load bearing, and multifunctional motion are essential for next-generation adaptive soft robots. Here, we present muscle-inspired magnetic actuators (MMA), additively manufactured…
Conformable robotic systems are attractive for applications in which they can be used to actuate structures with large surface areas, to provide forces through wearable garments, or to realize autonomous robotic systems. We present a new…
For full-body wireless power transfer (WPT), a liquid metal (LM)-based meandered textile coil has been proposed. Multiple rigid capacitors must be inserted in a long coil for efficiency; however, the conventional adhesive jointing suffers…
This work represents an initial benchmark of a large-scale soft robot performing physical, collaborative manipulation of a long, extended object with a human partner. The robot consists of a pneumatically-actuated, three-link continuum soft…
Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are no good dynamic simulation tools to predict the motion or performance of a microrobot as it moves against a substrate. At…
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…
Multimodal locomotion is crucial for an animal's adaptability in unstructured wild environments. Similarly, in the human gastrointestinal tract, characterized by viscoelastic mucus, complex rugae, and narrow sphincters like the cardia,…
We develop two new continuum contact models for coupled adhesion and friction, and discuss them in the context of existing models proposed in the literature. Our new models are able to describe sliding friction even under tensile normal…
This paper presents an open-source MATLAB/Simulink physics simulator for rigid-body articulated systems, including manipulators and floating-base robots. Thanks to MATLAB/Simulink features like MATLAB system classes and Simulink function…