相关论文: HISSbot: Sidewinding with a Soft Snake Robot
This research introduces a novel heuristic algorithm known as the Snake Locomotion Learning Search algorithm (SLLS) designed to address optimization problems. The SLLS draws inspiration from the locomotion patterns observed in snakes,…
Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through…
Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…
Hexapod robots are potentially suitable for carrying out tasks in cluttered environments since they are stable, compact, and light weight. They also have multi-joint legs and variable height bodies that make them good candidates for tasks…
Jumping is an efficient locomotion strategy to traverse cluttered, uneven, or unstable environments in nature, yet replicating continuous, autonomous leaping in soft robots remains challenging due to limited energy storage and reliance on…
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…
The ocean vast unexplored regions and diverse soft-bodied marine organisms have spurred interest in bio-inspired underwater soft robotics. Recent advances have enabled new capabilities in underwater movement, sensing, and interaction.…
Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…
This thesis presents a unified modeling and simulation framework for analyzing sidewinding and tumbling locomotion of the COBRA snake robot across rigid, compliant, and granular terrains. A contact-implicit formulation is used to model…
This paper presents a new teleoperated spherical tensegrity robot capable of performing locomotion on steep inclined surfaces. With a novel control scheme centered around the simultaneous actuation of multiple cables, the robot demonstrates…
Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…
The magnetic metamaterials known as Artificial Spin Ice (ASI) are promising candidates for neuromorphic computing, composed of vast numbers of interacting nanomagnets arranged in the plane. Every computing device requires the ability to…
Soft machines are poised to deliver significant real-world impact, with soft robotics emerging as a key sub-discipline. This field integrates biological inspiration, materials science, and embodied intelligence to create bio-robotic…
In this work we present a framework that is capable of accurately representing soft robotic actuators in a multiphysics environment in real-time. We propose a constraint-based dynamics model of a 1-dimensional pneumatic soft actuator that…
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…
While significant research progress has been made in robot learning for control, unique challenges arise when simultaneously co-optimizing morphology. Existing work has typically been tailored for particular environments or representations.…
Humanoid robots offer significant versatility for performing a wide range of tasks, yet their basic ability to walk and run, especially at high velocities, remains a challenge. This letter presents a novel method that combines deep…
Almost all robotic systems in use have hard shells, which is limiting in many ways their full potential of physical interaction with humans or their surrounding environment. Robots with soft-shell covers offer an alternative morphology…
Rectilinear forms of snake-like robotic locomotion are anticipated to be an advantage in obstacle-strewn scenarios characterizing urban disaster zones, subterranean collapses, and other natural environments. The elongated, laterally-narrow…
Designing soft robots poses considerable challenges: automated design approaches may be particularly appealing in this field, as they promise to optimize complex multi-material machines with very little or no human intervention.…