相关论文: Soft Cap for Eversion Robots
Compared to conventional wheeled transportation systems designed for flat surfaces, soft robots exhibit exceptional adaptability to various terrains, enabling stable movement in complex environments. However, due to the risk of collision…
Fully autonomous mobile robots have a multitude of potential applications, but guaranteeing robust navigation performance remains an open research problem. For many tasks such as repeated infrastructure inspection, item delivery, or…
Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodologies that take full advantage of body compliance. Currently…
To achieve real-world functionality, robots must have the ability to carry out decision-making computations. However, soft robots stretch and therefore need a solution other than rigid computers. Examples of embedding computing capacity…
Cooperative transportation by multi-aerial robots has the potential to support various payloads and improve failsafe against dropping. Furthermore, changing the attachment positions of robots according payload characteristics increases the…
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…
Robot feet are crucial for maintaining dynamic stability and propelling the body during walking, especially on uneven terrains. Traditionally, robot feet were mostly designed as flat and stiff pieces of metal, which meets its limitations…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…
To adapt to constantly changing environments and be safe for human interaction, robots should have compliant and soft characteristics as well as the ability to sense the world around them. Even so, the incorporation of tactile sensing into…
To design a general-purpose assembly robot system that can handle objects of various shapes, we propose a soft jig that fits to the shapes of assembly parts. The functionality of the soft jig is based on a jamming gripper developed in the…
We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and…
Multi-legged elongate robots hold promise for maneuvering through complex environments. Prior work has demonstrated that reliable locomotion can be achieved using open-loop body undulation and foot placement on rugose terrain. However,…
This paper presents a soft robot finger capable of adaptive-twist deformation to grasp objects by wrapping them. For a soft hand to grasp and pick-up one object from densely contained multiple objects, a soft finger requires the…
Snake robots are characterized by their ability to navigate through small spaces and loose terrain by utilizing efficient cyclic forms of locomotion. Soft snake robots are a subset of these robots which utilize soft, compliant actuators to…
Flying robots are usually rather delicate and require protective enclosures when facing the risk of collision, while high complexity and reduced payload are recurrent problems with collision-resilient flying robots. Inspired by arthropods'…
We address the challenge of reliable and accurate proprioception in soft robots, specifically those with tight packaging constraints and relying only on internally embedded sensors. While various sensing approaches with single sensors have…
Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…
The problem of rapid optimal coverage through the distribution a team of robots or static sensors via means of aerial drop is the topic of this work. Considering a nonholonomic (fixed-wing) aerial robot that corresponds to the carrier of a…
Capacitive technology allows building sensors that are small, compact and have high sensitivity. For this reason it has been widely adopted in robotics. In a previous work we presented a compliant skin system based on capacitive technology…