相关论文: A Vision-based Sensing Approach for a Spherical So…
For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…
This paper presents a vision-based sensing approach for a soft linear actuator, which is equipped with an integrated camera. The proposed vision-based sensing pipeline predicts the three-dimensional position of a point of interest on the…
Estimating a soft robot's pose and applied forces, also called proprioception, is crucial for safe interaction of the robot with its environment. However, most solutions for soft robot proprioception use dedicated sensors, particularly for…
Over the past decades, we have witnessed a rapid emergence of soft and reconfigurable robots thanks to their capability to interact safely with humans and adapt to complex environments. However, their softness makes accurate control very…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
Due to their inherent compliance, soft robots are more versatile than rigid linked robots when they interact with their environment, such as object manipulation or biomimetic motion, and considered the key element in introducing robots to…
Being aware of our body has great importance in our everyday life. This is the reason why we know how to move in a dark room or to grasp a complex object. These skills are important for robots as well, however, robotic bodily awareness is…
This paper presents a novel vision-based proprioception approach for a soft robotic finger that can estimate and reconstruct tactile interactions in both terrestrial and aquatic environments. The key to this system lies in the finger's…
Real-time proprioception is a challenging problem for soft robots, which have almost infinite degrees-of-freedom in body deformation. When multiple actuators are used, it becomes more difficult as deformation can also occur on actuators…
This paper presents the application of a learning control approach for the realization of a fast and reliable pick-and-place application with a spherical soft robotic arm. The arm is characterized by a lightweight design and exhibits…
Soft pneumatic robot manipulators are popular in industrial and human-interactive applications due to their compliance and flexibility. However, deploying them in real-world scenarios requires advanced sensing for tactile feedback and…
In this paper, we study integrated estimation and control of soft robots. A significant challenge in deploying closed loop controllers is reliable proprioception via integrated sensing in soft robots. Despite the considerable advances…
Accurate shape sensing, only achievable through distributed proprioception, is a key requirement for closed-loop control of soft robots. Low-cost power efficient optoelectronic sensors manufactured from flexible materials represent a…
Robots have been brought to work close to humans in many scenarios. For coexistence and collaboration, robots should be safe and pleasant for humans to interact with. To this end, the robots could be both physically soft with multimodal…
State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…
In the rapidly advancing field of robotics, the fusion of state-of-the-art visual technologies with mobile robotic arms has emerged as a critical integration. This paper introduces a novel system that combines the Segment Anything model…
The precise control of soft and continuum robots requires knowledge of their shape, which has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reconstruct the shape, proprioceptive techniques use built-in…
Soft bodies made from flexible and deformable materials are popular in many robotics applications, but their proprioceptive sensing has been a long-standing challenge. In other words, there has hardly been a method to measure and model the…
Three-dimensional shape sensing in soft and continuum robotics is a crucial aspect for stable actuation and control in fields such as Minimally Invasive surgery, as the estimation of complex curvatures while using continuum robotic tools is…
Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…