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 …
humans or in complex, delicate, and dynamic environments. However, infinite degrees of …
Model-based control for soft robots with system uncertainties and input saturation
Model-based strategies are a promising solution to the grand challenge of equipping
continuum soft robots with motor intelligence. However, finite-dimensional models of these …
continuum soft robots with motor intelligence. However, finite-dimensional models of these …
A unified and modular model predictive control framework for soft continuum manipulators under internal and external constraints
FA Spinelli, RK Katzschmann - 2022 IEEE/RSJ International …, 2022 - ieeexplore.ieee.org
Fluidically actuated soft robots have promising capabilities such as inherent compliance and
user safety. The control of soft robots needs to properly handle nonlinear actuation …
user safety. The control of soft robots needs to properly handle nonlinear actuation …
[PDF][PDF] Developments and Trend Maps for Soft Continuum Manipulators and Soft Snake Robots
VS Rajashekhar, G Prabhakar - Foundations and Trends® in …, 2024 - researchgate.net
Soft robots are more human-friendly than rigid-bodied robots. This is due to their soft nature
that does not harm humans while interacting. This work provides the developments and …
that does not harm humans while interacting. This work provides the developments and …
Prismatic soft actuator augments the workspace of soft continuum robots
P Wand, O Fischer… - 2022 IEEE/RSJ …, 2022 - ieeexplore.ieee.org
Soft robots are promising for manipulation tasks thanks to their compliance, safety, and high
degree of freedom. However, the commonly used bidirectional continuum segment design …
degree of freedom. However, the commonly used bidirectional continuum segment design …
Linear delta arrays for compliant dexterous distributed manipulation
This paper presents a new type of distributed dexterous manipulator: delta arrays. Our delta
array setup consists of 64 linearly-actuated delta robots with 3D-printed compliant linkages …
array setup consists of 64 linearly-actuated delta robots with 3D-printed compliant linkages …
Linear Delta Arrays for Compliant Dexterous Distributed Manipulation
This paper presents a new type of distributed dexterous manipulator: delta arrays. Our delta
array setup consists of 64 linearly-actuated delta robots with 3D-printed compliant linkages …
array setup consists of 64 linearly-actuated delta robots with 3D-printed compliant linkages …