相关论文: Cosserat Rod Modeling and Validation for a Soft Co…
In this study, an inhomogeneous Cosserat rod theory is introduced and compared to the conventional homogeneous rod for modeling soft manipulators. The inhomogeneity is addressed by considering the pressure actuation as part of the rod's…
In this paper, we design feedback control laws for soft robots modelled using the Cosserat rod, which is spatially discretised using the Piecewise Constant Strain (PCS) approach. The PCS approach transforms the nonlinear PDEs describing the…
Soft actuators offer compliant and safe interaction with an unstructured environment compared to their rigid counterparts. However, control of these systems is often challenging because they are inherently under-actuated, have infinite…
Continuum soft robots are mechanical systems entirely made of continuously deformable elements. This design solution aims to bring robots closer to invertebrate animals and soft appendices of vertebrate animals (e.g., an elephant's trunk, a…
In this paper, we propose a novel vision-based control algorithm for regulating the whole body shape of extensible multisection soft continuum manipulators. Contrary to existing vision-based control algorithms in the literature that…
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…
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…
Soft robotics has been a trending topic within the robotics community for almost two decades. However, available tools for the modeling and analysis of soft robots are still limited. This paper introduces a user-friendly MATLAB toolbox,…
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…
Continuum robots possess high flexibility and redundancy, making them well suited for safe interaction in complex environments, yet their continuous deformation and nonlinear dynamics pose fundamental challenges to perception, modeling, and…
Inspired by the vertebrate branch of the animal kingdom, articulated soft robots are robotic systems embedding elastic elements into a classic rigid (skeleton-like) structure. Leveraging on their bodies elasticity, soft robots promise to…
Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…
The robotic shape control of deformable linear objects has garnered increasing interest within the robotics community. Despite recent progress, the majority of shape control approaches can be classified into two main groups: open-loop…
Soft robots offer more flexibility, compliance, and adaptability than traditional rigid robots. They are also typically lighter and cheaper to manufacture. However, their use in real-world applications is limited due to modeling challenges…
Soft robots have garnered significant attention due to their promising applications across various domains. A hallmark of these systems is their bilayer structure, where strain mismatch caused by differential expansion between layers…
Vine robots are a class of soft continuum robots that grow via tip eversion, allowing them to move their tip without relying on reaction forces from the environment. Constructed from compliant materials such as fabric and thin, flexible…
Soft robots have drawn significant attention recently for their ability to achieve rich shapes when interacting with complex environments. However, their elasticity and flexibility compared to rigid robots also pose significant challenges…
We present a hybrid Eulerian-Lagrangian method for the direct simulation of three-dimensional, heterogeneous structures made of soft fibers and immersed in incompressible viscous fluids. Fiber-based organization of matter is pervasive in…
Tensegrity structures are lightweight, can undergo large deformations, and have outstanding robustness capabilities. These unique properties inspired roboticists to investigate their use. However, the morphological design, control,…
Soft robots are well suited for contact-rich tasks due to their compliance, yet this property makes accurate and tractable modeling challenging. Planning motions with dynamically-feasible trajectories requires models that capture arbitrary…