相关论文: Safe Supervisory Control of Soft Robot Actuators
Soft robotic actuators can simplify the design of controllers when operating in contact-rich environments. Importantly, their passive compliance fundamentally alters contact mechanics by smoothing impacts and distributing forces over large…
An underdeveloped capability in soft robotics is proprioceptive feedback control, where soft actuators can be sensed and controlled using only sensors on the robot's body. Additionally, soft actuators are often unable to support human-scale…
Manipulation and grasping with unmanned aerial vehicles (UAVs) currently require accurate positioning and are often executed at reduced speed to ensure successful grasps. This is due to the fact that typical UAVs can only accommodate rigid…
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…
High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise architectures in which each actuated segment behaves as a…
We present a tool-supported approach for the synthesis, verification and validation of the control software responsible for the safety of the human-robot interaction in manufacturing processes that use collaborative robots. In human-robot…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
Bipedal locomotion makes humanoid robots inherently prone to falls, causing catastrophic damage to the expensive sensors, actuators, and structural components of full-scale robots. To address this critical barrier to real-world deployment,…
Navigation and motion control of a robot to a destination are tasks that have historically been performed with the assumption that contact with the environment is harmful. This makes sense for rigid-bodied robots where obstacle collisions…
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…
Purpose of Review: This review provides an overview of the state of the art in bioinspired soft robotics with by examining advancements in actuation, functionality, modeling, and control. Recent Findings: Recent research into actuation…
Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait…
Recent studies have demonstrated the immense potential of exploiting muscle actuator morphology for natural and robust movement -- in simulation. A validation on real robotic hardware is yet missing. In this study, we emulate muscle…
Soft robotics has emerged as a transformative technology in Search and Rescue (SAR) operations, addressing challenges in navigating complex, hazardous environments that often limit traditional rigid robots. This paper critically examines…
Ensuring safe interactions in human-centric environments requires robots to understand and adhere to constraints recognized by humans as "common sense" (e.g., "moving a cup of water above a laptop is unsafe as the water may spill" or…
Soft underwater robots typically explore bioinspired designs at the expense of power efficiency when compared to traditional underwater robots, which limits their practical use in real-world applications. We leverage a fluidic closed-loop…
Human interaction introduces two main constraints: Safety and Comfort. Therefore service robot manipulator can't be controlled like industrial robotic manipulator where personnel is isolated from the robot's work envelope. In this paper, we…
Robots must operate safely when deployed in novel and human-centered environments, like homes. Current safe control approaches typically assume that the safety constraints are known a priori, and thus, the robot can pre-compute a…
Force modulation of robotic manipulators has been extensively studied for several decades but is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance guarantees -…
The work considers the design of an indirect adaptive controller for a satellite equipped with a robotic arm manipulating an object. Uncertainty on the manipulated object can considerably impact the overall behavior of the system. In…