相关论文: Performance and Experimental Analysis of Strain-ba…
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…
Continuum robots have the potential to enable new applications in medicine, inspection, and countless other areas due to their unique shape, compliance, and size. Excellent progess has been made in the mechanical design and dynamic…
We propose reaching steps towards the real-time strain control of multiphysics, multiscale continuum soft robots. To study this problem fundamentally, we ground ourselves in a model-based control setting enabled by mathematically precise…
Soft robots offer remarkable adaptability and safety advantages over rigid robots, but modeling their complex, nonlinear dynamics remains challenging. Strain-based models have recently emerged as a promising candidate to describe such…
In contrast to conventional robots, accurately modeling the kinematics and statics of continuum robots is challenging due to partially unknown material properties, parasitic effects, or unknown forces acting on the continuous body.…
Continuum robots are becoming increasingly popular for applications which require the robots to deform and change shape, while also being compliant. A cable-driven continuum robot is one of the most commonly used type. Typical cable driven…
Linear reduced-order modeling (ROM) is widely used for efficient simulation of deformation dynamics, but its accuracy is often limited by the fixed linearization of the reduced mapping. We propose a new adaptive strategy for linear ROM that…
Diffraction-based methods have become an invaluable tool for the detailed assessment of residual strain and stress within experimental mechanics. These methods typically measure a component of the average strain within a gauge volume. It is…
This paper presents a learning-based approach for accurately estimating the 3D shape of flexible continuum robots subjected to external loads. The proposed method introduces a spatiotemporal neural network architecture that fuses…
In this paper, we discuss a novel continuum robot design that enables the online tuning of the magnetic response at its tip. The proposed method allows for the change of both effective magnetic direction and intensity, introducing steering…
This paper presents a study on the backstepping control of tendon-driven continuum robots for large deflections using the Cosserat rod model. Continuum robots are known for their flexibility and adaptability, making them suitable for…
State estimation techniques for continuum robots (CRs) typically involve using computationally complex dynamic models, simplistic shape approximations, or are limited to quasi-static methods. These limitations can be sensitive to unmodelled…
In this paper, we present a surrogate-based multiscale approach to model constant strain-rate and creep experiments on unidirectional thermoplastic composites under off-axis loading. In previous contributions, these experiments were modeled…
State estimation is one of the fundamental problems in robotics. For soft continuum robots, this task is particularly challenging because their states (poses, strains, internal wrenches, and velocities) are inherently infinite-dimensional…
The characteristic ``in-plane" bending associated with soft robots' deformation make them preferred over rigid robots in sophisticated manipulation and movement tasks. Executing such motion strategies to precision in soft deformable robots…
Fatigue simulation requires accurate modeling of unloading and reloading. However, classical ductile damage models treat deformations after complete failure as irrecoverable -- which leads to unphysical behavior during unloading. This…
Continuum robots are flexible, thin manipulators capable of navigating confined or delicate environments making them well suited for surgical applications. Previous approaches to continuum robot state estimation typically rely on…
This letter describes the manufacturing and experimental characterization of novel stretchable strain sensors for continuum robots. The overarching goal of this research is to provide a new solution for the shape sensing of these devices.…
In-situ aeroengine maintenance works are highly beneficial as it can significantly reduce the current maintenance cycle which is extensive and costly due to the disassembly requirement of engines from aircrafts. However, navigating in/out…
The classical continuum models used for the woven fabrics do not fully describe the whole set of phenomena that occur during the testing of those materials. This incompleteness is partially due to the absence of energy terms related to some…