Publication
Soft Robotics: A Route to Equality, Diversity, and Inclusivity in Robotics
Related publications (67)
Soft robotics for farm to fork: applications in agriculture & farming
Josephine Anna Eleanor Hughes, Kai Christian Junge
Agricultural tasks and environments range from harsh field conditions with semi-structured produce or animals, through to post-processing tasks in food-processing environments. From farm to fork, the development and application of soft robotics offers a pl ...
Bristol2024Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering
Josephine Anna Eleanor Hughes, Francesco Stella
The control possibilities for soft robots have long been hindered by the need for reliable methods to estimate their configuration. Inertial measurement units (IMUs) can solve this challenge, but they are affected by well-known drift issues. This letter pr ...
Piscataway2024Measuring and shaping the nutritional environment via food sales logs: case studies of campus-wide food choice and a call to action
Robert West, Robin Adrien Zbinden, Kristina Gligoric
Although diets influence health and the environment, measuring and changing nutrition is challenging. Traditional measurement methods face challenges, and designing and conducting behavior-changing interventions is conceptually and logistically complicated ...
Frontiers Media Sa2024A Provably Stable Iterative Learning Controller for Continuum Soft Robots
Josephine Anna Eleanor Hughes, Francesco Stella
Fully exploiting soft robots' capabilities requires devising strategies that can accurately control their movements with the limited amount of control sources available. This task is challenging for reasons including the hard-to-model dynamics, the system' ...
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023Morphological flexibility in robotic systems through physical polygon meshing
Jamie Paik, Kevin Andrew Holdcroft, Christoph Heinrich Belke, Alexander Thomas Sigrist
Shape-changing robots adapt their own morphology to address a wider range of functions or environments than is possible with a fixed or rigid structure. Akin to biological organisms, the ability to alter shape or configuration emerges from the underlying m ...
Berlin2023Liquid Metal-Based Sensor Skin Enabling Haptic Perception of Softness
Stéphanie Lacour, Ivan Furfaro, Emilio Fernández Lavado, Haotian Chen
Haptic perception of softness is a unique feature of the human skin that relies on the concurrent measurements of the lateral deformation and compression of the skin during object manipulation. This is challenging to implement in robotics because of combin ...
2023Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC
Josephine Anna Eleanor Hughes, Francesco Stella, Qinghua Guan
Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new exploration and m ...
IEEE2023Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control
Josephine Anna Eleanor Hughes, Francesco Stella, Egidio Falotico
Elephants and other animals heavily rely on the sense of smell to operate. Soft robots would also benefit from an artificial sense of smell, which could be helpful in typical soft robotic tasks such as search and rescue, pipe inspection, and all the tasks ...
IEEE2023An experimental validation of the polynomial curvature model: identification and optimal control of a soft underwater tentacle
Josephine Anna Eleanor Hughes, Francesco Stella, Nana Obayashi
The control possibilities for soft robots have long been hindered by the lack of accurate yet computationally treatable dynamic models of soft structures. Polynomial curvature models propose a solution to this quest for continuum slender structures. Nevert ...
Institute of Electrical and Electronics Engineers Inc.2022