相关论文: Soft Cap for Eversion Robots

Softening and onboarding computers and controllers is one of the final frontiers in soft robotics towards their robustness and intelligence for everyday use. In this regard, embodying soft and physical computing presents exciting potential.…

Centipede-like robots offer an effective and robust solution to navigation over complex terrain with minimal sensing. However, when climbing over obstacles, such multi-legged robots often elevate their center-of-mass into unstable…

Motivated by a high demand for automated inspection of civil infrastructure, this work presents a new design and development of a tank-like robot for structural health monitoring. Unlike most existing magnetic wheeled mobile robot designs,…

Continuum arms, such as trunk and tentacle robots, lie between the two extremities of rigid and soft robots and promise to capture the best of both worlds in terms of manipulability, dexterity, and compliance. This paper proposes a new…

Research on the co-optimization of soft robotic design and control requires rapid means for real-world validation. Existing creation pipelines do not allow for the swift prototyping of soft robots to quickly test various design…

A robotic platform for mobile manipulation needs to satisfy two contradicting requirements for many real-world applications: A compact base is required to navigate through cluttered indoor environments, while the support needs to be large…

Various quadruped robots have been developed to date, and thanks to reinforcement learning, they are now capable of traversing diverse types of rough terrain. In parallel, there is a growing trend of releasing these robot designs as…

Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…

Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipulators require high precision and specific object geometries…

The use of soft robotics for real-world underwater applications is limited, even more than in terrestrial applications, by the ability to accurately measure and control the deformation of the soft materials in real time without the need for…

Although wheeled robots have been predominant for planetary exploration, their geometry limits their capabilities when traveling over steep slopes, through rocky terrains, and in microgravity. Legged robots equipped with grippers are a…

A system and testing rig were designed and built to simulate the use of an eversion robot equipped with a radiation sensor to characterise an irradiated pipe prior to decommissioning. The magnets were used as dummy radiation sources which…

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…

Electrically-driven soft robots based on piezoelectric actuators may enable compact form factors and maneuverability in complex environments. In most prior work, piezoelectric actuators are used to control a single degree of freedom. In…

While soft robot manipulators offer compelling advantages over rigid counterparts, including inherent compliance, safe human-robot interaction, and the ability to conform to complex geometries, accurate forward modeling from low-dimensional…

Soft robotic systems present a variety of new opportunities for solving complex problems. The use of soft robotic grippers, for example, can simplify the complexity in tasks such as the of grasping irregular and delicate objects. Adoption…

Soft robots are promising for manipulation tasks thanks to their compliance, safety, and high degree of freedom. However, the commonly used bidirectional continuum segment design means soft robotic manipulators only function in a limited…

Magnetic soft robots embedded with hard magnetic particles enable untethered actuation via external magnetic fields, offering remote, rapid, and precise control, which is highly promising for biomedical applications. However, designing such…

Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent obstacles present significant challenges to reliable navigation and mapping. These materials pose a unique problem for traditional…

Soft robots present unique capabilities, but have been limited by the lack of scalable technologies for construction and the complexity of algorithms for efficient control and motion, which depend on soft-body dynamics, high-dimensional…