相关论文: A Soft Robotic Module with Pneumatic Actuation and…
Control of wire-borne underactuated brachiating robots requires a robust feedback control design that can deal with dynamic uncertainties, actuator constraints and unmeasurable states. In this paper, we develop a robust feedback control for…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
The Finite Element Method (FEM) is a powerful modeling tool for predicting the behavior of soft robots. However, its use for control can be difficult for non-specialists of numerical computation: it requires an optimization of the…
This paper discusses the design and implementation of the Modular Pipe Climber inside ASTM D1785 - 15e1 standard pipes [1]. The robot has three tracks which operate independently and are mounted on three modules which are oriented at…
Cutting mechanics in soft solids present a complex mechanical challenge due to the intricate behavior of soft ductile materials as they undergo crack nucleation and propagation. Recent research has explored the relationship between the…
In this paper, we propose a novel design of a hybrid mobile robot with controllable stiffness and deformable shape. Compared to conventional mobile agents, our system can switch between rigid and compliant phases by solidifying or melting…
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…
Practical use of robotic manipulators made from soft materials requires generating and executing complex motions. We present the first approach for generating trajectories of a thermally-actuated soft robotic manipulator. Based on…
Collaborative robots must simultaneously be safe enough to operate in close proximity to human operators and powerful enough to assist users in industrial tasks such as lifting heavy equipment. The requirement for safety necessitates that…
Soft robots offer more flexibility, compliance, and adaptability than traditional rigid robots. They are also typically lighter and cheaper to manufacture. However, their use in real-world applications is limited due to modeling challenges…
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…
A cable-driven soft-bodied robot with redundancy can conduct the trajectory tracking task and in the meanwhile fulfill some extra constraints, such as tracking through an end-effector in designated orientation, or get rid of the evitable…
Magnetic soft continuum robots are capable of bending with remote control in confined space environments, and they have been applied in various bioengineering contexts. As one type of ferromagnetic soft continuums, the Magnetically Induced…
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…
The smart morphing wing aircraft (SMWA) is a highly adaptable platform that can be widely used for intelligent warfare due to its real-time variable structure. The flexible conformal array (FCA) is a vital detection component of SMWA, when…
Soft robotics is applicable to a variety of domains due to the adaptability offered by the soft and compliant materials. To develop future intelligent soft robots, soft sensors that can capture deformation with nearly infinite…
Flexible robotic manipulators (FRMs) offer advantages in lightweight design and large workspace, but their structural flexibility induces vibrations, accelerates fatigue, degrades tracking performance, and limits operational speed. These…
Recently, Adaptive Secondary Mirrors showed excellent on-sky results in the Near Infrared wavelengths. They currently provide 30mm inter-actuator spacing and about 1 kHz bandwidth. Pushing these devices to be operated at visible wavelengths…
Twisted String Actuators (TSAs) are widely used in robotics but suffer from a limited range of Transmission Ratio (TR) variation, restricting their efficiency under varying loads.To overcome this, we propose a novel lightweight,…
Many application domains, e.g., in medicine and manufacturing, can greatly benefit from pneumatic Soft Robots (SRs). However, the accurate control of SRs has remained a significant challenge to date, mainly due to their nonlinear dynamics…