相关论文: Designing morphologies of soft medical devices usi…

Soft robotics are increasingly favoured in specific applications such as healthcare, due to their adaptability, which stems from the non-linear properties of their building materials. However, these properties also pose significant…

Soft robots can exhibit better performance in specific tasks compared to conventional robots, particularly in healthcare-related tasks. However, the field of soft robotics is still young, and designing them often involves mimicking natural…

Soft robots diverge from traditional rigid robotics, offering unique advantages in adaptability, safety, and human-robot interaction. In some cases, soft robots can be powered by biohybrid actuators and the design process of these systems…

Since soft robotics are composed of compliant materials, they perform better than conventional rigid robotics in specific fields, such as medical applications. However, the field of soft robotics is fairly new, and the design process of…

Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…

When simulating soft robots, both their morphology and their controllers play important roles in task performance. This paper introduces a new method to co-evolve these two components in the same process. We do that by using the hyperNEAT…

Soft robotics holds transformative potential for enabling adaptive and adaptable systems in dynamic environments. However, the interplay between morphological and control complexities and their collective impact on task performance remains…

The intelligent behavior of robots does not emerge solely from control systems, but from the tight coupling between body and brain, a principle known as embodied intelligence. Designing soft robots that leverage this interaction remains a…

Soft robotics is a rapidly growing area of robotics research that would benefit greatly from design automation, given the challenges of manually engineering complex, compliant, and generally non-intuitive robot body plans and behaviors. It…

Evolving virtual creatures is a field with a rich history and recently it has been getting more attention, especially in the soft robotics domain. The compliance of soft materials endows soft robots with complex behavior, but it also makes…

In medical-related tasks, soft robots can perform better than conventional robots because of their compliant building materials and the movements they are able perform. However, designing soft robot controllers is not an easy task, due to…

Soft robots have gained significant attention due to their flexibility and safety, particularly in human-centric applications. The co-design of structure and controller in soft robotics has presented a longstanding challenge owing to the…

Co-designing a robot's morphology and control can ensure synergistic interactions between them, prevalent in biological organisms. However, co-design is a high-dimensional search problem. To make this search tractable, we need a systematic…

Designing robots by hand can be costly and time consuming, especially if the robots have to be created with novel materials, or be robust to internal or external changes. In order to create robots automatically, without the need for human…

Soft robots promise inherent safety via their material compliance for seamless interactions with humans or delicate environments. Yet, their development is challenging because it requires integrating materials, geometry, actuation, and…

Humans and animals are capable of quickly learning new behaviours to solve new tasks. Yet, we often forget that they also rely on a highly specialized morphology that co-adapted with motor control throughout thousands of years. Although…

Soft robots are distinguished by their flexibility and adaptability, allowing them to perform nearly impossible tasks for rigid robots. However, controlling their behavior is challenging due to their nonlinear material response and infinite…

Optimizing the body and brain of a robot is a coupled challenge: the morphology determines what control strategies are effective, while the control parameters influence how well the morphology performs. This joint optimization can be done…

Robotic performance emerges from the coupling of body and controller, yet it remains unclear when morphology-control co-design is necessary. We present a unified framework that embeds morphology and control parameters within a single neural…

Magnetic soft robots embedded with hard magnetic particles enable untethered actuation via external magnetic fields, offering remote, rapid, and precise control, which is highly promising for biomedical applications. However, designing such…