相关论文: Cosserat Rod Modeling and Validation for a Soft Co…

Continuum soft robots are nonlinear mechanical systems with theoretically infinite degrees of freedom (DoFs) that exhibit complex behaviors. Achieving motor intelligence under dynamic conditions necessitates the development of…

Continuum robots are well suited for constrained environments but suffer from low distal stiffness, resulting in large posture errors under external loads. In this paper, we propose a novel structural primitive, the Distal-Stable Beam,…

Soft, tip-extending "vine" robots offer a unique mode of inspection and manipulation in highly constrained environments. For practicality, it is desirable that the distal end of the robot can be manipulated freely, while the body remains…

Pneumatically operated soft growing robots that extend via tip eversion are well-suited for navigation in confined spaces. Adding the ability to interact with the environment using sensors and tools attached to the robot tip would greatly…

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…

Passive deformation due to compliance is a commonly used benefit of soft robots, providing opportunities to achieve robust actuation with few active degrees of freedom. Soft growing robots in particular have shown promise in navigation of…

Parallel Continuum Robots (PCR) are closed-loop mechanisms but use elastic kinematic links connected in parallel between the end-effector (EE) and the base platform. PCRs are actuated primarily through large deflections of the…

There is a surge of research interest in the field of tensegrity robotics. Robots developed under this paradigm provide many advantages and have distinguishing features in terms of structural compliance, dexterity, safety, and weight…

Continuum and soft robots can leverage complex actuator shapes to take on useful shapes while actuating only a few of their many degrees of freedom. Continuum robots that also grow increase the range of potential shapes that can be actuated…

Finite element methods have been successfully used to develop physics-based models of soft robots that capture the nonlinear dynamic behavior induced by continuous deformation. These high-fidelity models are therefore ideal for designing…

Soft robots have high adaptability and safeness which are derived from their softness, and therefore it is paid attention to use them in human society. However, the controllability of soft robots is not enough to perform dexterous behaviors…

In this paper, we introduce a design principle to develop novel soft modular robots based on tensegrity structures and inspired by the cytoskeleton of living cells. We describe a novel strategy to realize tensegrity structures using planar…

Robots with flexible spines based on tensegrity structures have potential advantages over traditional designs with rigid torsos. However, these robots can be difficult to control due to their high-dimensional nonlinear dynamics and actuator…

The automatic shape control of deformable objects is a challenging (and currently hot) manipulation problem due to their high-dimensional geometric features and complex physical properties. In this study, a new methodology to manipulate…

An elastic rod, straight in its undeformed state, has a mass attached at one end and a variable length, due to a constraint at the other end by a frictionless sliding sleeve. The constraint is arranged with the sliding direction parallel to…

The Piecewise Constant Curvature (PCC) model is the most widely used soft robotic modeling and control. However, the PCC fails to accurately describe the deformation of the soft robots when executing dynamic tasks or interacting with the…

Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…

Tip-extending soft robots that "grow" via pneumatic eversion of their body material have demonstrated applications in exploration of cluttered environments. During growth, the motion and force of the robot tip can be controlled in three…

We present a growth model for special Cosserat rods that allows for induced rotation of cross-sections. The growth law considers two controls, one for lengthwise growth and other for rotations. This is explored in greater detail for…

Magnetic soft robots have attracted growing interest due to their unique advantages in terms of untethered actuation and excellent controllability. However, finding the required magnetization patterns or magnetic fields to achieve the…