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Soft robotics have gained increased attention from the robotic community due to their unique features such as compliance and human safety. Impressive amount of soft robotic prototypes have shown their superior performance over their rigid…
With the development of robot electronic skin technology, various tactile sensors, enhanced by AI, are unlocking a new dimension of perception for robots. In this work, we explore how robots equipped with electronic skin can recognize…
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…
Obtaining dynamic models of continuum soft robots is central to the analysis and control of soft robots, and researchers have devoted much attention to the challenge of proposing both data-driven and first-principle solutions. Both avenues…
Flexible sensors are increasingly employed in soft robotics and wearable devices to provide proprioception of freeform deformations.Although supervised learning can train shape predictors from sensor signals, prediction accuracy strongly…
Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…
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…
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…
All-around, real-time navigation and sensing across the water environments by miniature soft robotics are promising, for their merits of small size, high agility and good compliance to the unstructured surroundings. In this paper, we…
The efficient optimization of actuated soft structures, particularly under complex nonlinear forces, remains a critical challenge in advancing robotics. Simulations of nonlinear structures, such as soft-bodied robots modeled using the…
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.…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
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…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Artificial electronic skins covering complete robot bodies can make physical human-robot collaboration safe and hence possible. Standards for collaborative robots (e.g., ISO/TS 15066) prescribe permissible forces and pressures during…
This paper introduces a new type of soft continuum robot, called SCoReS, which is capable of self-controlling continuously its curvature at the segment level; in contrast to previous designs which either require external forces or machine…
Soft robots offer significant advantages in safety and adaptability, yet achieving precise and dynamic control remains a major challenge due to their inherently complex and nonlinear dynamics. Recently, Data-enabled Predictive Control…
Electronic skin, a class of wearable electronic sensors that mimic the functionalities of human skin, has made remarkable success in applications including health monitoring, human-machine interaction and electronic-biological interfaces.…
Human skin provides a rich tactile sensing stream, localizing intentional and unintentional contact events over a large and contoured region. Replicating these tactile sensing capabilities for dexterous robotic manipulation systems remains…
Discrete simulation methods are efficient tools to investigate the complex behaviors of complex fluids made of either dry granular materials or dilute suspensions. By contrast, materials made of soft and/or concentrated units (emulsions,…