相关论文: Soft Cap for Eversion Robots

Both the design and control of a robot play equally important roles in its task performance. However, while optimal control is well studied in the machine learning and robotics community, less attention is placed on finding the optimal…

Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…

Soft robots, inspired by elephant trunks or octopus arms, offer extraordinary flexibility to bend, twist, and elongate in ways that rigid robots cannot. However, their motion planning remains a challenge, especially in cluttered…

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…

Robots are widely deployed in space environments because of their versatility and robustness. However, adverse gravity conditions and challenging terrain geometry expose the limitations of traditional robot designs, which are often forced…

One of the trendsetting themes in soft robotics has been the goal of developing the ultimate universal soft robotic gripper. One that is capable of manipulating items of various shapes, sizes, thicknesses, textures, and weights. All the…

A cable-driven soft-bodied robot with redundancy can conduct the trajectory tracking task and in the meanwhile fulfill some extra constraints, such as tracking through an end-effector in designated orientation, or get rid of the evitable…

Collaborative robots must simultaneously be safe enough to operate in close proximity to human operators and powerful enough to assist users in industrial tasks such as lifting heavy equipment. The requirement for safety necessitates that…

Pneumatic soft everting robotic structures have the potential to facilitate human transfer tasks due to their ability to grow underneath humans without sliding friction and their utility as a flexible sling when deflated. Tubular structures…

Living organisms intertwine soft (e.g., muscle) and hard (e.g., bones) materials, giving them an intrinsic flexibility and resiliency often lacking in conventional rigid robots. The emerging field of soft robotics seeks to harness these…

Legged locomotion is a highly promising but under-researched subfield within the field of soft robotics. The compliant limbs of soft-limbed robots offer numerous benefits, including the ability to regulate impacts, tolerate falls, and…

Recent advances in learned control, large-scale simulation, and generative models have accelerated progress toward general-purpose robotic controllers, yet the field still lacks platforms suitable for safe, expressive, long-term deployment…

A key challenge in robotics is to create efficient methods for grasping objects with diverse shapes, sizes, poses, and properties. Grasping with hand-like end effectors often requires careful selection of hand orientation and finger…

Quadruped robots must exhibit robust walking capabilities in practical applications. In this work, we propose a novel approach that enables quadruped robots to pass various small obstacles, or "tiny traps". Existing methods often rely on…

Soft robot serial chain manipulators with the capability for growth, stiffness control, and discrete joints have the potential to approach the dexterity of traditional robot arms, while improving safety, lowering cost, and providing an…

Soft robots are known for their ability to perform tasks with great adaptability, enabled by their distributed, non-uniform stiffness and actuation. Bending is the most fundamental motion for soft robot design, but creating robust, and…

Objective: In this work we address limitations in state-of-the-art ultrasound robots by designing and integrating a novel soft robotic system for ultrasound imaging. It employs the inherent qualities of soft fluidic actuators to establish…

Exploring the design and control strategies of soft robots through simulation is highly attractive due to its cost-effectiveness. Although many existing models (e.g., finite element analysis) are effective for simulating soft robotic…

The ignition of flammable liquids and gases in offshore oil and gas environments is a major risk and can cause loss of life, serious injury, and significant damage to infrastructure. Power supplies that are used to provide regulated…

Quadruped robots are proliferating in industrial environments where they carry sensor payloads and serve as autonomous inspection platforms. Despite the advantages of legged robots over their wheeled counterparts on rough and uneven…