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...
ManipulatorsSoft robots are notoriously hard to control. This is partly due to the scarcity of models and simulators able to capture their complex continuum... N Naughton,J Sun,A Tekinalp,... - 《IEEE Robotics & Automation Letters》 被引量: 0发表: 2021年 Dynamic Modeling And Control Of Fl...
Nonlinear dynamic modeling and model-based AI-driven control of a magnetoactive soft continuum robot in a fluidic environment 2023 ISAIn recent years, magnetoactive soft continuum robots (MSCRs) with multimodal locomotion capabilities have emerged for various biomedical applicatio... SA Moezi,R Sedagha...
However, owing to the current limitations in simulation, design and control of soft robots often involve a painstaking trial. With the ultimate goal of a computational framework for soft robotic engineering, here we introduce a numerical simulation tool for limbed soft robots that draws inspiration ...
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 ...
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
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 ...
has been shown to illustrate the effectiveness of the controller. This is one of the first efforts to control of soft robots driven by viscoelastic DEAs. 展开 关键词: Artificial muscles control creep dielectric elastomer actuators (DEAs) hysteresis soft robots viscoelasticity ...