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New soft robots really suck: Vacuum-powered systems empower diverse capabilities

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Soft Pneumatic Actuator Skin with Embedded Sensors

Jamie Paik, Yun Seong Song, Chansu Suh

Soft Pneumatic Actuator skin (SPA-skin) is a novel concept of ultra-thin (< 1 mm) sensor embedded actuators with distributed actuation points that could cover soft bodies. This highly customizable and flexible SPA-skin is ideal for providing proprioceptive ...

Ieee2014

Soft Cell Simulator: A tool to study Soft Multi-Cellular Robots

Dario Floreano, Andrea Maesani, Jürg Markus Germann, Manuel Stöckli

Modular or multi-cellular robots hold the promise to adapt their morphology to task and environment. However, research in modular robotics has traditionally been limited to mechanically non-adaptive systems due to hard building blocks and rigid connection ...

2013

Learning a Real Time Grasping Strategy

Aude Billard, Sahar El Khoury, Miao Li

Real time planning strategy is crucial for robots working in dynamic environments. In particular, robot grasping tasks require quick reactions in many applications such as human-robot interaction. In this paper, we propose an approach for grasp learning th ...

2013

Artificial muscles for soft robots

Dario Floreano, Herbert Shea, Samuel Rosset, Jun Shintake

Recent work on soft gripper using an artificial muscle technology was shown at Festival de robotique in EPFL. ...

2013

A Control and Optimization Framework for Robot Locomotion

Soha Pouya

Despite great efforts in designing legged robots, we are still far from the adaptivity, efficiency and robustness with which animals can move. Observations from successful biomimetic designs highlight the significant role of clever morphological design in ...

EPFL2013

Recognizing the Visual Focus of Attention for Human Robot Interaction

Jean-Marc Odobez, Samira Sheikhi

We address the recognition of people’s visual focus of attention (VFOA), the discrete version of gaze that indicates who is looking at whom or what. As a good indicator of addressee-hood (who speaks to whom, and in particular is a person speaking to the ro ...

Springer Berlin Heidelberg2012

Contactless deflection sensor for soft robots

Dario Floreano, Ramon Pericet Camara, Michal Karol Dobrzynski

In the emerging field of soft robotics, there is an interest in developing new kinds of sensors whose characteristics do not affect the intrinsic compliance of soft robot components. Additionally, non-invasive shape and deflection sensors may provoke impro ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2011

Soft Robotics: Challenges and Perspectives

There has been an increasing interest in the use of unconventional materials and morphologies in robotic systems because the underlying mechanical properties (such as body shapes, elasticity, viscosity, softness, density and stickiness) are crucial researc ...

Elsevier Science, Reg Sales Off, Customer Support Dept, 655 Ave Of The Americas, New York, Ny 10010 Usa2011

Modeling of Swarm Robotic Systems: A Case Study in Collaborative Distributed Manipulation

Alcherio Martinoli

In this paper, we present a time-discrete, incremental methodology for modeling, at the microscopic and macroscopic level, the dynamics of distributed manipulation experiments using swarms of autonomous robots endowed with reactive controllers. The methodo ...

2004