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Wheeled robots have gained significant attention due to their wide range of applications in manufacturing, logistics, and service industries. However, due to the difficulty of building a highly accurate dynamics model for wheeled robots,…
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…
We present M, an open-source, low-cost social robot platform designed to reduce platform friction that slows social robotics research by making robots easier to reproduce, modify, and deploy in real-world settings. M combines a modular…
Soft robots have demonstrated superior flexibility and functionality than conventional rigid robots. These versatile devices can respond to a wide range of external stimuli (including light, magnetic field, heat, electric field, etc.), and…
In recent years, the Robot Operating System (ROS) is developing rapidly and has been widely used in robotics research because of its flexible, open source, and extensive advantages. In scientific research, the corresponding hardware…
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…
The Finite Element Method (FEM) is a powerful modeling tool for predicting soft robots' behavior, but its computation time can limit practical applications. In this paper, a learning-based approach based on condensation of the FEM model is…
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…
When academic researchers develop and validate autonomous driving algorithms, there is a challenge in balancing high-performance capabilities with the cost and complexity of the vehicle platform. Much of today's research on autonomous…
Although recent years have seen significant progress of humanoid robots in walking and running, the frequent foot strikes with ground during these locomotion gaits inevitably generate high instantaneous impact forces, which leads to…
Soft robots offer unmatched adaptability and safety in unstructured environments, yet their compliant, high-dimensional, and nonlinear dynamics make modeling for control notoriously difficult. Existing data-driven approaches often fail to…
Soft robots show compliance and have infinite degrees of freedom. Thanks to these properties, such robots can be leveraged for surgery, rehabilitation, biomimetics, unstructured environment exploring, and industrial grippers. In this case,…
In this letter, we present a novel bi-modal bi-copter robot called Skater, which is adaptable to air and various ground surfaces. Skater consists of a bi-copter moving along its longitudinal direction with two passive wheels on both sides.…
Recently, data-driven models such as deep neural networks have shown to be promising tools for modelling and state inference in soft robots. However, voluminous amounts of data are necessary for deep models to perform effectively, which…
Fluid-based soft actuators are an attractive option for lightweight and human-safe robots. These actuators, combined with fluid pressure force feedback, are in principle a form of series-elastic actuation (SEA), in which nearly all…
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…
The Finite Element Method (FEM) is a powerful modeling tool for predicting the behavior of soft robots. However, its use for control can be difficult for non-specialists of numerical computation: it requires an optimization of the…
Under-actuated compliant robotic systems offer a promising approach to mitigating actuation and control challenges by harnessing pre-designed, embodied dynamic behaviors. This paper presents Flix-Walker, a novel, untethered,…
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,…
In spite of recent progress, soft robotics still suffers from a lack of unified modeling framework. Nowadays, the most adopted model for the design and control of soft robots is the piece-wise constant curvature model, with its consolidated…