Moreover, soft robots often include internal constraints and thus actuation is typically limited in the range of action and it is often unidirectional. This paper proposes a control pipeline to tackle the challenge of controlling soft robots with internal constraints in environments with obstacles. We...
SOFT ROBOTS: Control of soft robots with inertial dynamics Soft robots promise improved safety and capability over rigid robots when deployed near humans or in complex, delicate, and dynamic environments. However, infinite degrees of freedom and the potential for highly nonlinear dynamics severe... ...
& Rus, D. Dynamics and trajectory optimization for a soft spatial fluidic elastomer manipulator. J. Robotics Res. (in the press). This paper describes a new algorithm for dynamic control of soft robots and demonstrates the use of this method to achieve reachability outside of the static ...
Soft growing robots, which mimic the biological growth of plants, have demonstrated excellent performance in navigating tight and distant environments due to their flexibility and extendable lengths of several tens of meters. However, controlling the position of the tip of these robots can be challengi...
They are widely used soft grippers, which are composed of two or more soft pneumatic actuators (SPAs). The main advantage of SPAs is their inherent flexibility, providing excellent compliance that allows for SPGs to grip diverse objects with simple control [25,26]. However, because of their ...
design principles and the specific needs of reconfigurable robots. Each task is designed to represent certain properties that we deem important, such as the capability to navigate through long-horizon explorations, the ability to analyze the environment, and interact with external objects," Huang says...
A team of engineering researchers has made a fundamental advance in controlling so-called soft robots, using magnetic fields to remotely manipulate microparticle chains embedded in soft robotic devices. The researchers have already created several device
therehasrecentlybeenmuchresearchintheareaofsoftandstretchableelectronics.AfulldiscussionofthisareaisbeyondthescopeofthisReview,but,asthisfieldofelectronicsmatures,weexpectgreaterintegrationwithsoftrobots,resultingincompletelysoftprototypes.Sensing Becausesoftrobotsareactuatedbygeneratingcurvatures,proprioceptionrelieson...
In Robots, Softbots, Im- mobots: Theories of Action, Planning and Con- trol, working notes of the workshop held on July 27, 1997 in conjunction with the AAAI-97, Prov- idence, Rhode Island.Baral, C. and Tran, S. C. (... C Baral,TC Son - 《Electronic Transactions on Artificial ...
A large-scale benchmark for co-optimizing the design and control of soft robots. As seen inEvolution Gym: A Large-Scale Benchmark for Evolving Soft Robots(NeurIPS 2021). Installation Clone the repo and submodules: git clone --recurse-submodules https://github.com/EvolutionGym/evogym.git ...