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Soft robotic manipulators provide numerous advantages over conventional rigid manipulators in fragile environments such as the marine environment. However, developing analytic inverse models necessary for shape, motion, and force control of…
Soft sensors have continued growing interest in robotics, due to their ability to enable both passive conformal contact from the material properties and active contact data from the sensor properties. However, the same properties of…
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…
Autonomous contact-based micromanipulation is challenging because surface and interfacial interactions at the microscale are difficult to model accurately, limiting the use of conventional model-based control and sim-to-real learning. We…
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…
If human experience is any guide, operating effectively in unstructured environments -- like homes and offices -- requires robots to sense the forces during physical interaction. Yet, the lack of a versatile, accessible, and easily…
Soft robots have become increasingly popular for complex manipulation tasks requiring gentle and safe contact. However, their softness makes accurate control challenging, and high-fidelity sensing is a prerequisite to adequate control…
Dynamic in-hand manipulation remains a challenging task for soft robotic systems that have demonstrated advantages in safe compliant interactions but struggle with high-speed dynamic tasks. In this work, we present SWIFT, a system for…
Soft robotics has the potential to revolutionize robotic locomotion, in particular, soft robotic swimmers offer a minimally invasive and adaptive solution to explore and preserve our oceans. Unfortunately, current soft robotic swimmers are…
In this paper, we present a novel and generic data-driven method to servo-control the 3-D shape of continuum and soft robots embedded with fiber Bragg grating (FBG) sensors. Developments of 3-D shape perception and control technologies are…
Objective: In this work we address limitations in state-of-the-art ultrasound robots by designing and integrating a novel soft robotic system for ultrasound imaging. It employs the inherent qualities of soft fluidic actuators to establish…
The morphology of a slender soft-robot can be modified by sensing its shape via sensors and exerting moments via actuators embedded along its body. The actuating moments required to morph these soft-robots to a desired shape are often…
The last few decades have led to the rise of research focused on propulsion and control systems for bio-inspired unmanned underwater vehicles (UUVs), which provide more maneuverable alternatives to traditional UUVs in underwater missions.…
This paper aims to show that robots equipped with a vision-based tactile sensor can perform dynamic manipulation tasks without prior knowledge of all the physical attributes of the objects to be manipulated. For this purpose, a robotic…
Scombrid fishes and tuna are efficient swimmers capable of maximizing performance to escape predators and save energy during long journeys. A key aspect in achieving these goals is the flexibility of the tail, which the fish optimizes…
Surgical robot simulation platform plays a crucial role in enhancing training efficiency and advancing research on robot learning. Much effort have been made by scholars on developing open-sourced surgical robot simulators to facilitate…
Magnetic soft continuum robots (MSCRs) have emerged as a promising technology for minimally invasive interventions, offering enhanced dexterity and remote-controlled navigation in confined lumens. Unlike conventional guidewires with…
In the application of underwater creature study, comparing with propeller-powered ROVs and servo motor actuated robotic fish, novel biomimetic fish robot designs with soft actuation structure could interact with aquatic creatures closely…
Extreme skin depth engineering (e-skid) can be applied to integrated photonics to manipulate the evanescent field of a waveguide. Here we demonstrate that e-skid can be implemented in two directions in order to deterministically engineer…
Accurate simulation of soft mechanisms under dynamic actuation is critical for the design of soft robots. We address this gap with our differentiable simulation tool by learning the material parameters of our soft robotic fish. On the…