相关论文: Learning-Based Modeling of Soft Actuators Using Eu…
Soft robots are interesting examples of hyper-redundancy in robotics, however, the nonlinear continuous dynamics of these robots and the use of hyper-elastic and visco-elastic materials makes modeling of these robots more complicated. This…
The simulation-to-reality (sim-to-real) transfer of large-scale hydraulic robots presents a significant challenge in robotics because of the inherent slow control response and complex fluid dynamics. The complex dynamics result from the…
Euler's elastica constitute an appealing variational image inpainting model. It minimises an energy that involves the total variation as well as the level line curvature. These components are transparent and make it attractive for shape…
A convolutional encoder-decoder-based transformer model is proposed for autoregressively training on spatio-temporal data of turbulent flows. The prediction of future fluid flow fields is based on the previously predicted fluid flow field…
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…
Aging populations and the rising prevalence of neurological and musculoskeletal disorders increase the demand for wearable mobility assistive devices that are effective, comfortable, and anatomically compatible. Many existing systems use…
This work focuses on the stability analysis of an Euler Bernoulli cantilever beam with a tip mass at the free end, subject to a follower force. This can serve as a viable model for analysis of elastic instability occurring due to…
This paper investigates the influence of the internal geometrical structure of soft pneu-nets on the dynamic response and hysteresis of the actuators. The research findings indicate that by strategically manipulating the stress distribution…
In this paper, we propose a novel vision-based control algorithm for regulating the whole body shape of extensible multisection soft continuum manipulators. Contrary to existing vision-based control algorithms in the literature that…
Conventional soft pneumatic actuators, typically based on hollow elastomeric chambers, often suffer from small structural support and require costly geometry-specific redesigns for multimodal functionality. Porous materials such as foam,…
This paper presents a comprehensive analysis of the contact force profile of a single-cell bidirectional soft pneumatic actuator, specifically designed to aid in the abduction and adduction of the shoulder for pediatric exosuits. The…
The precise control of soft and continuum robots requires knowledge of their shape, which has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reconstruct the shape, proprioceptive techniques use built-in…
This paper presents the application of a learning control approach for the realization of a fast and reliable pick-and-place application with a spherical soft robotic arm. The arm is characterized by a lightweight design and exhibits…
Task-driven design of soft robots requires models that are physically accurate and computationally efficient, while remaining transferable across actuator designs and task scenarios. However, existing modeling approaches typically face a…
We present a novel general model that unifies the kinematics of constant curvature and constant twist continuum manipulators. Combining this kinematics with energy-based physics, we derive a linear mapping from actuator configuration to…
Designing materials or structures that can achieve asymmetric shape-shifting in response to symmetrically switching stimuli is a promising approach to enhance the locomotion performance of soft actuators/robots. Inspired by the geometry of…
Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint…
Recent advances in aerial robotics have enabled the use of multirotor vehicles for autonomous payload transportation. Resorting only to classical methods to reliably model a quadrotor carrying a cable-slung load poses significant…
Modern robotics is gravitating toward increasingly collaborative human robot interaction. Tools such as acceleration policies can naturally support the realization of reactive, adaptive, and compliant robots. These tools require us to model…
The mechanical complexity of soft robots creates significant challenges for their model-based control. Specifically, linear data-driven models have struggled to control soft robots on complex, spatially extended paths that explore regions…