First, soft robots are built to work in the environment, so the presence of obstacles in their path should always be explicitly accounted by their control systems. Second, due to the complex kinematics, the actuation of soft robots is mapped to the state space nonlinearly resulting in spaces ...
Soft robots are primarily composed of soft materials that can allow for mechanically robust maneuvers that are not typically possible with conventional rigid robotic systems. However, owing to the current limitations in simulation, design and control of soft robots often involve a painstaking trial. Wi...
The FE method has been employed for the modeling and real-time control of soft robots using the open-source framework “Simulation Open Framework Architecture” with the “SOFT ROBOTS” plugin [21,22]. However, it is limited to quasi-static conditions and requires the linearization of structural...
Bellows Arm Control Simulated environment code for the paper Learning Dynamic Tasks on a Large-scale Soft Robot in a Handful of Trials - Project Page Abstract Soft robots offer more flexibility, compliance, and adaptability than traditional rigid robots. They are also typically lighter and cheaper ...
More like this ➡️here Soft Tensegrity Robots These soft tensegrity robots are capable of dynamic locomotive gaits. They are easy to assemble and don’t break easily. [HT]
T. Design, fabrication and control of soft robots. Nature 521, 467–475 (2015). Article ADS CAS Google Scholar Polygerinos, P., Wang, Z., Galloway, K. C., Wood, R. J. & Walsh, C. J. Soft robotic glove for combined assistance and at-home rehabilitation. Rob. Auton. Syst. 73...
The approach is based on the geometrically exact shell theory used in nonlinear structural dynamics and exploits the symmetric shape of the mantle. Once all the mathematical background is reminded we propose a first use of this model by using the constitutive laws of the shell as control laws ...
On the other hand, control theory [11,12], while effective for a range of control problems, faces significant limitations due to their reliance on precise mathematical models of the system they control. Moreover, these controllers often struggle with robustness, as they are highly sensitive to ...
When humanoid robots attempt to walk on terrain such as shaking platforms, time-varying disturbances are introduced to the support foot. These abrupt changes of inclination angle can cause the robot to lose balance upon landing, presenting significant challenges for balance control algorithms. To addre...
The new structure of spatial parallel robots from Delta robots family is elaborated in this research. The proposed novel mechanism like ordinary Delta parallel mechanism has three degrees of pure translational freedom, but the position of robot’s three