相关论文: PneuDrive: An Embedded Pressure Control System and…
Due to their ability to move without sliding relative to their environment, soft growing robots are attractive for deploying distributed sensor networks in confined spaces. Sensing of the state of such robots would also add to their…
Injection moulding is a well-established automated process for manufacturing a wide variety of plastic components in large volumes and with high precision. There are, however, process control challenges associated with each stage of…
Flexible robots have advantages over rigid robots in their ability to conform physically to their environment and to form a wide variety of shapes. Sensing the force applied by or to flexible robots is useful for both navigation and…
While rigid robots are extensively used in various applications, they are limited in the tasks they can perform and can be unsafe in close human-robot interactions. Soft robots on the other hand surpass the capabilities of rigid robots in…
Many marine creatures, gastropods, and earthworms generate continuous traveling waves in their bodies for locomotion within marine environments, complex surfaces, and inside narrow gaps. In this work, we study theoretically and…
Accurate shape sensing, only achievable through distributed proprioception, is a key requirement for closed-loop control of soft robots. Low-cost power efficient optoelectronic sensors manufactured from flexible materials represent a…
In this letter, an advanced stretchable optical waveguide sensor is implemented into a multidirectional PneuNet soft actuator to enhance dynamic state estimation through a NARX neural network. The stretchable waveguide featuring a…
This paper presents a novel framework to realize proprioception and closed-loop control for soft manipulators. Deformations with large elongation and large bending can be precisely predicted using geometry-based sensor signals obtained from…
This work focuses on closed-loop control based on proprioceptive feedback for a pneumatically-actuated soft wearable device aimed at future support of infant reaching tasks. The device comprises two soft pneumatic actuators (one…
This paper presents MicroRoboScope, a portable, compact, and versatile microrobotic experimentation platform designed for real-time, closed-loop control of both magnetic and acoustic microrobots. The system integrates an embedded computer,…
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…
To address the operational challenges of in-pipe robots in large pipes of water distribution systems (WDS), in this research, a control algorithm is proposed for our previously designed robot [4]. Our size adaptable robot has an…
High-density microfluidics is becoming an important experimental platform for studying complex biological systems such as synthetic gene regulatory networks, molecular biocomputating of engineered cells, distributing rapid point-of-care…
This paper presents a design methodology of a hydraulically-driven soft robotic gripper for grasping a large and heavy object -- approximately 10 - 20 kg with 20 - 30 cm diameter. Most existing soft grippers are pneumatically actuated with…
AutoDRIVE is envisioned to be a comprehensive research platform for scaled autonomous vehicles. This work is a stepping-stone towards the greater goal of realizing such a research platform. Particularly, this work proposes a…
The ignition of flammable liquids and gases in offshore oil and gas environments is a major risk and can cause loss of life, serious injury, and significant damage to infrastructure. Power supplies that are used to provide regulated…
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…
Today's heavy-duty mobile machines (HDMMs) face two transitions: from diesel-hydraulic actuation to clean electric systems driven by climate goals, and from human supervision toward greater autonomy. Diesel-hydraulic systems have long…
Soft pneumatic actuators are widely used in soft robotics because they can produce large motions while remaining compliant enough to interact safely with objects, environments, and the human body. However, their performance is not solely…
The letter proposes a smooth Rate Limiter (RL) model for power system stability analysis and control. The proposed model enables the effects of derivative bounds to be incorporated into system eigenvalue analysis, while replicating the…