相关论文: Safe Supervisory Control of Soft Robot Actuators

The development of novel texture adaptations for the management of swallowing disorders could be accelerated if reliable in vitro tests were made available. This study addresses some of the limitations of swallowing in vitro models, by…

Soft actuators offer compliant and safe interaction with an unstructured environment compared to their rigid counterparts. However, control of these systems is often challenging because they are inherently under-actuated, have infinite…

Soft electronic skins are one of the means to turn an industrial manipulator into a collaborative robot. For manipulators that are already fit for physical human-robot collaboration, soft skins can make them safer. In this work, we study…

Soft robots, compared to rigid robots, possess inherent advantages, including higher degrees of freedom, compliance, and enhanced safety, which have contributed to their increasing application across various fields. Among these benefits,…

While much work has been done recently in the realm of model-based control of soft robots and soft-rigid hybrids, most works examine robots that have an inherently serial structure. While these systems have been prevalent in the literature,…

Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…

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…

In recent years, impressive results have been achieved in robotic manipulation. While many efforts focus on generating collision-free reference signals, few allow safe contact between the robot bodies and the environment. However, in…

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…

The research aims to expand tactile feedback beyond vibrations to various modes of stimuli, such as indentation, vibration, among others. By incorporating soft material into the design of a novel tactile actuator, we can achieve…

Generally, humanoid robots usually suffer significant impact force when walking or running in a non-predefined environment that could easily damage the actuators due to high stiffness. In recent years, the usages of passive, compliant…

Continuum soft robots are mechanical systems entirely made of continuously deformable elements. This design solution aims to bring robots closer to invertebrate animals and soft appendices of vertebrate animals (e.g., an elephant's trunk, a…

Due to their ability to move without sliding relative to their environment, soft growing robots are attractive for deploying distributed sensor networks in confined spaces. Sensing of the state of such robots would also add to their…

The flexible under-actuated musculoskeletal hand is superior in its adaptability and impact resistance. On the other hand, since the relationship between sensors and actuators cannot be uniquely determined, almost all its controls are based…

Soft robotics is a rapidly growing field that spans the fields of chemistry, materials science, and engineering. Due to the diverse background of the field, there have been contrasting naming schemes such as 'intelligent', 'smart' and…

Unlike human beings that can employ the entire surface of their limbs as a means to establish contact with their environment, robots are typically programmed to interact with their environments via their end-effectors, in a collision-free…

Soft and soft-rigid hybrid robots are inherently underactuated and operate under tight actuator limits, making task-space control with stability guarantees challenging. Common nonlinear strategies for soft robots (e.g., those based on PD…

Purpose of review: We review recent advances in algorithmic development and validation for modeling and control of soft robots leveraging the Koopman operator theory. Recent findings: We identify the following trends in recent research…

Many collaborative human-robot tasks require the robot to stay safe and work efficiently around humans. Since the robot can only stay safe with respect to its own model of the human, we want the robot to learn a good model of the human in…

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…