Publication

Adaptive Compliant Foot Design for Salamander Robots

Related publications (42)

Educational Soft Underwater Robot with an Electromagnetic Actuation

As demonstrated by the Soft Robotics Toolkit Platform, compliant robotics pose an exciting educational opportunity. Underwater robotics using soft undulating fins is an expansive research topic with applications such as exploration of underwater life or re ...

New Rochelle2024

Permanently magnetized elastomer rotating actuator using traveling waves

Herbert Shea

We report a soft actuator that generates continuous rotation of an object placed on it by electromagnetically exciting circular travelling waves in a soft disk. The disk, that serves as the stator, is made of a stretchable composite consisting of segments ...

Iop Publishing Ltd2024

SOFT BIDIRECTIONAL BENDING ACTUATOR BASED ON MAGNETORHOGICAL FLUIDS

Timothée Hirt

The goal of this project is to design and fabricate a bidirectional bending actuator for soft robotics applications. The actuation principle will be based on magnetorheological fluids (MRFs). MRFs are smart materials consisting of micro-meter-sized particl ...

2023

Electromagnetic actuator design for distributed stiffness

Jamie Paik, Fabio Zuliani

Origami robots characterized by rigid plates linked together with flexible joints have inherent compliance and large deformations. Their low-profile design and folding mechanical transmissions provide substantial force and torque, especially for wearables ...

IOP Publishing Ltd2022

Using redundant and disjoint time-variant soft robotic sensors for accurate static state estimation

Josephine Anna Eleanor Hughes, Antonia Georgopoulou Papadonikolaki

Soft robotic sensors have been limited in their applications due to their highly nonlinear time variant behavior. Current studies are either looking into techniques to improve the mechano-electrical properties of these sensors or into modelling algorithms ...

Institute of Electrical and Electronics Engineers Inc.2021

Sensorless Quasi-static Piezoelectric Actuator for Micro-Robotics

Louis Antoine Masson

Research interest into the miniaturisation of micro-robots has soared in recent years due to the availability of suitable integrated actuators. The reduction in size of these components is achieved through the implementation of Self-Sensing Actuation (SSA) ...

EPFL2020

Mechanically programmable, degradable & ingestible soft actuators

Josephine Anna Eleanor Hughes

One of the key challenges in soft robotics is the development of actuators which are truly soft and compliant, and can be adapted and tailored for different applications. In particular, the development of untethered soft actuators could enable robots to au ...

Institute of Electrical and Electronics Engineers Inc.2020

Design and control of a prototype structure that adapts to loading through large shape changes

Ian Smith, Gennaro Senatore, Arka Prabhata Reksowardojo, Apoorv Srivastava

This paper reports on experimental testing that was carried out on a prototype adaptive structure designed to counteract the effect of loading through controlled large shape changes. The prototype is 6.6 m truss equipped with 12 linear actuators which has ...

ELSEVIER2020

Design Methodology for Engineering Multifunctional Mesoscale Robots

Zhenishbek Zhakypov

In this thesis our research goal is to develop, study and demonstrate multifunctional multi-robot systems in mesoscale. Particularly, our goal is to study and demonstrate terrestrial multi-locomotion and collective behaviours with mesoscale robots, similar ...

EPFL2019

Phase Changing Materials-Based Variable-Stiffness Tensegrity Structures

Dario Floreano, Jun Shintake, Davide Zappetti

Soft robots leverage deformable bodies to achieve different types of locomotion, improve transportability, and safely navigate cluttered environments. In this context, variable-stiffness structures provide soft robots with additional properties, such as th ...

2019

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