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An accurate, physically-based, and differentiable model of soft robots can unlock downstream applications in optimal control. The Finite Element Method (FEM) is an expressive approach for modeling highly deformable structures such as…
Robotic grasping under uncertainty remains a fundamental challenge due to its uncertain and contact-rich nature. Traditional rigid robotic hands, with limited degrees of freedom and compliance, rely on complex model-based and heavy feedback…
Recently, suction-based robotic systems with microscopic features or active suction components have been proposed to grip rough and irregular surfaces. However, sophisticated fabrication methods or complex control systems are required for…
Bio-inspired soft robots have already shown the ability to handle uncertainty and adapt to unstructured environments. However, their availability is partially restricted by time-consuming, costly and highly supervised design-fabrication…
Soft robots offer an alternative approach to manipulate inside the constrained space while maintaining the safe interaction with the external environment. Due to its adaptable compliance characteristic, external contact force can easily…
We study the kinematics and dynamics of a highly compliant membrane disk placed head-on in a uniform flow. With increasing flow velocity, the membrane deforms nonlinearly into increasingly parachute-like shapes. These aerodynamically…
Inflated-beam soft robots, such as tip-everting vine robots, can control curvature by contracting one beam side via pneumatic actuation. This work develops a general finite element modeling approach to characterize their bending. The model…
Accurate and adaptive dynamic models are critical for underwater vehicle-manipulator systems where hydrodynamic effects induce time-varying parameters. This paper introduces a novel uncertainty-aware adaptive dynamics model framework that…
This paper introduces a novel robotic system designed to manage severe bleeding in emergency scenarios, including unique environments like space stations. The robot features a shape-adjustable "ring mechanism", transitioning from a circular…
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…
We explore the locomotion of soft robots in granular medium (GM) resulting from the elastic deformation of slender rods. A low-cost, rapidly fabricable robot inspired by the physiological structure of bacteria is presented. It consists of a…
Soft robots enable safe, adaptive interaction with complex environments but remain difficult to sense and control due to their highly deformable structures. Architected soft materials such as helicoid lattices offer tunable stiffness and…
Soft machines typically exhibit slow locomotion speed and low manipulation strength because of intrinsic limitations of soft materials. Here, we present a generic design principle that harnesses mechanical instability for a variety of…
This work aims to describe a mathematical model and a numerical method to simulate a thin anisotropic composite membrane moving and deforming in 3D space under a dynamic load of an arbitrary time and space profile. The model and the method…
In this paper, a compressed air-actuated soft robotic module was developed by incorporating a shape memory alloy (SMA) wire into its structure to achieve the desired bending angle with greater precision. First, a fiber-reinforced bending…
A flexible membrane deforming its shape in time can self-propel in a viscous fluid. Alternatively, if the membrane is anchored, its deformation will lead to fluid transport. Past work in this area focused on situations where the deformation…
For soft robots to work effectively in human-centered environments, they need to be able to estimate their state and external interactions based on (proprioceptive) sensors. Estimating disturbances allows a soft robot to perform desirable…
Soft actuators offer a safe, adaptable approach to tasks like gentle grasping and dexterous manipulation. Creating accurate models to control such systems however is challenging due to the complex physics of deformable materials. Accurate…
We consider the aeroelastic simulation of flexible mechanical structures submerged in subsonic fluid flows at low Mach numbers. The nonlinear kinematics of flexible bodies are described in the total Lagrangian formulation and discretized by…
Incorrectly sized balloon catheters can lead to increased post-surgical complications, yet even with preoperative imaging, correct selection remains a challenge. With limited feedback during surgery, it is difficult to verify correct…