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Soft robots have drawn significant attention recently for their ability to achieve rich shapes when interacting with complex environments. However, their elasticity and flexibility compared to rigid robots also pose significant challenges…
Soft Robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced…
Untethered soft robots are essential for advancing the real-world deployment of soft robotic systems in diverse and multitasking environments. Inspired by soft-bodied inchworm, we present a fully untethered soft robot with a curved,…
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…
Robotic arms are essential to modern industries, however, their adaptability to unstructured environments remains limited. Soft robotic arms, particularly those actuated pneumatically, offer greater adaptability in unstructured environments…
Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…
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…
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…
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…
Pneumatic actuation benefits soft robotics by facilitating compliance, enabling large volume change, and concentrating actuator weight away from the end-effector. However, portability is compromised when pneumatic actuators are tethered to…
We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor and a low-gear-ratio transmission suitable for impedance and…
Designing soft robots poses considerable challenges: automated design approaches may be particularly appealing in this field, as they promise to optimize complex multi-material machines with very little or no human intervention.…
Locomotive robots that do not rely on electronics and/or electromagnetic components will open up new perspectives and applications for robotics. However, these robots usually involve complicated and tedious fabrication processes, limiting…
Inchworm crawling allows for both quasistatic and dynamic gaits at a wide range of actuation frequencies. This locomotion mechanism is common in nonskeletal animals and exploited extensively in the bio-inspired field of soft robotics. In…
Intelligent control of soft robots is challenging due to the nonlinear and difficult-to-model dynamics. One promising model-free approach for soft robot control is reinforcement learning (RL). However, model-free RL methods tend to be…
The confluence of soft robotics and fluidic logic have sparked innovations in integrated robots with superior flexibility and potential machine intelligence. However, current fluidically driven soft robots suffer from either a large number…
Legged locomotion shows promise for running in complex, unstructured environments. Designing such legged robots requires considering heterogeneous, multi-domain constraints and variables, from mechanical hardware and geometry choices to…
Soft robots utilizing inflatable dielectric membranes can realize intricate functionalities through the application of non-mechanical fields. However, given the current limitations in simulations, including low computational efficiency and…
Legged robots have demonstrated remarkable agility on rigid, stationary ground, but their locomotion reliability remains limited in non-inertial environments, where the supporting ground moves, tilts, or accelerates. Such conditions arise…
Enabling robots to walk and run on yielding terrain is increasingly vital to endeavors ranging from disaster response to extraterrestrial exploration. While dynamic legged locomotion on rigid ground is challenging enough, yielding terrain…