Human-robot coexistence has become an important trend of the new generation of robots.
Both rigid structures and soft structures have their own limitations in certain application …

Numerous recent advances in robotics have been inspired by the biological principle of
tensile integrity—or “tensegrity”—to achieve remarkable feats of dexterity and resilience …

Interest in emulating the properties of biological muscles that allow for fast adaptability and
control in unstructured environments has motivated researchers to develop new soft …

In this study, we present a tensegrity robot arm that can reproduce the features of complex
musculoskeletal structures, and can bend like a continuum manipulator. In particular, we …

Symmetry, a fundamental concept to understand our environment, often oversimplifies
reality from a mathematical perspective. Humans are a prime example, deviating from …

Since the twenty-first century, research on tensegrity structures has been extended from the
field of architecture to robotics, considering their promising environmental adaptability and …

Learning policies in simulation is promising for reducing human effort when training robot
controllers. This is especially true for soft robots that are more adaptive and safe but also …

This work presents swing-up and stabilizing control of an underactuated two-segment soft-
bodied arm by exploiting its morphology (eg, body shape changing and stiffness variation) …

Clustered tensegrity structures integrated with continuous cables are lightweight, foldable,
and deployable. Thus, they can be used as flexible manipulators or soft robots. The …

We propose a novel differentiable physics engine for system identification of complex spring-
rod assemblies. Unlike black-box data-driven methods for learning the evolution of a …