Publications de Qinghua Guan | EPFL Graph Search

A Versatile Neural Network Configuration Space Planning and Control Strategy for Modular Soft Robot Arms

Josephine Anna Eleanor Hughes, Qinghua Guan

Institute of Electrical and Electronics Engineers (IEEE)2025

Robotic locomotion through active and passive morphological adaptation in extreme outdoor environments

Josephine Anna Eleanor Hughes, Max Mirko Polzin, Qinghua Guan

Robotic locomotion has shown substantial advancements, yet robots still lack the versatility and agility shown by animals navigating complex terrains. This limits their applicability in complex environments where they could be highly beneficial. Unlike exi ...

AMER ASSOC ADVANCEMENT SCIENCE2025

Lattice Structure Musculoskeletal Robots: Harnessing Programmable Geometric Topology and Anisotropy

Josephine Anna Eleanor Hughes, Qinghua Guan

Natural musculoskeletal systems combine soft tissues and rigid structures to achieve diverse mechanical behaviors that are both adaptive and precise. Inspired by these systems, we propose a programming method for designing bioinspired soft-rigid robotic st ...

AMER ASSOC ADVANCEMENT SCIENCE2025

Automated Benchmarking of Variable‐Property Soft Robotic Fingertips to Enable Task‐Optimized Sensor Selection

Josephine Anna Eleanor Hughes, Qinghua Guan

Tactile fingertips are a vital component of biological dexterity, where they convey information from the environment through our sensory systems. Similarly, sensorized robotic fingertips are needed to unlock robotic dexterity, versatility, and diverse inte ...

Wiley2025

A Survey on Soft Robot Adaptability: Implementations, Applications, and Prospects [Survey]

Josephine Anna Eleanor Hughes, Qinghua Guan

Soft robots, compared to rigid robots, possess inherent advantages, including higher degrees of freedom, compliance, and enhanced safety, which have contributed to their increasing application across various fields. Among these benefits, adaptability is pa ...

2025

Toward Long-Lasting Large-Scale Soft Robots: The Durability Challenge in Architectured Materials

Josephine Anna Eleanor Hughes, Francesco Stella, Qinghua Guan

Soft robots promise groundbreaking advancements across various industries. However, soft robots are susceptible to wear, fatigue, and material degradation. Their durability and long-term reliability are often overlooked, despite being critical for the succ ...

Institute of Electrical and Electronics Engineers Inc.2024

4D printing of Metal-Reinforced double network granular hydrogels

Esther Amstad, Josephine Anna Eleanor Hughes, Matteo Hirsch, Qinghua Guan, Livia D'Onofrio

Recent developments in soft actuation demand for resilient, responsive materials with locally varying compositions that are sufficiently stiff to exhibit significant actuation forces. Hydrogels are inherently responsive to certain stimuli. Yet, they typica ...

2023

Piecewise 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 ...

IEEE2023