Soft pneumatic actuators: A review of design, fabrication, modeling, sensing, control and applications
Soft robotics is a rapidly evolving field where robots are fabricated using highly deformable
materials and usually follow a bioinspired design. Their high dexterity and safety make them …
materials and usually follow a bioinspired design. Their high dexterity and safety make them …
Modeling, learning, perception, and control methods for deformable object manipulation
Perceiving and handling deformable objects is an integral part of everyday life for humans.
Automating tasks such as food handling, garment sorting, or assistive dressing requires …
Automating tasks such as food handling, garment sorting, or assistive dressing requires …
Soft robots modeling: A structured overview
C Armanini, F Boyer, AT Mathew… - IEEE Transactions on …, 2023 - ieeexplore.ieee.org
The robotics community has seen an exponential growth in the level of complexity of the
theoretical tools presented for the modeling of soft robotics devices. Different solutions have …
theoretical tools presented for the modeling of soft robotics devices. Different solutions have …
On the use of simulation in robotics: Opportunities, challenges, and suggestions for moving forward
The last five years marked a surge in interest for and use of smart robots, which operate in
dynamic and unstructured environments and might interact with humans. We posit that well …
dynamic and unstructured environments and might interact with humans. We posit that well …
[PDF][PDF] Incremental potential contact: intersection-and inversion-free, large-deformation dynamics.
Contact is ubiquitous and often unavoidable and yet modeling contacting systems continues
to stretch the limits of available computational tools. In part this is due to the unique hurdles …
to stretch the limits of available computational tools. In part this is due to the unique hurdles …
From bioinspiration to computer generation: Developments in autonomous soft robot design
J Pinskier, D Howard - Advanced Intelligent Systems, 2022 - Wiley Online Library
The emerging field of soft robotics presents a new paradigm for robot design in which
“precision through rigidity” is replaced by “cognition through compliance.” Lightweight and …
“precision through rigidity” is replaced by “cognition through compliance.” Lightweight and …
igibson 2.0: Object-centric simulation for robot learning of everyday household tasks
Recent research in embodied AI has been boosted by the use of simulation environments to
develop and train robot learning approaches. However, the use of simulation has skewed …
develop and train robot learning approaches. However, the use of simulation has skewed …
Control of elastic soft robots based on real-time finite element method
C Duriez - 2013 IEEE international conference on robotics and …, 2013 - ieeexplore.ieee.org
In this paper, we present a new method for the control of soft robots with elastic behavior,
piloted by several actuators. The central contribution of this work is the use of the Finite …
piloted by several actuators. The central contribution of this work is the use of the Finite …
Dynamic cloth manipulation with deep reinforcement learning
In this paper we present a Deep Reinforcement Learning approach to solve dynamic cloth
manipulation tasks. Differing from the case of rigid objects, we stress that the followed …
manipulation tasks. Differing from the case of rigid objects, we stress that the followed …
Toward next-generation learned robot manipulation
The ever-changing nature of human environments presents great challenges to robot
manipulation. Objects that robots must manipulate vary in shape, weight, and configuration …
manipulation. Objects that robots must manipulate vary in shape, weight, and configuration …