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Powerful 2D Soft Morphing Actuator Propels Giant Manta Ray Robot

Publications associées (46)

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Exact Obstacle Avoidance for Robots in Complex and Dynamic Environments Using Local Modulation

Lukas Huber

Robots outside of the fenced factories have to deal with continuously changing environment, this requires fast and flexible modes of control. Planning methods or complex learning models can find optimal paths in complex surroundings, but they are computati ...

EPFL2024

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The following data contain the information and files, which are required to recreate and build the experimental setup that is described in the Laboratory manual. Further details can be found in the associated publication “A graduate laboratory experiment t ...

Zenodo2023

Sensorless force and displacement estimation in soft actuators

Jamie Paik, Sagar Dattatray Joshi

Sensing forms an integral part of soft matter based robots due to their compliance, dependence on loading conditions, and virtually infinite degrees of freedom. Previous studies have developed several extrinsic sensors and embedded them into soft actuators ...

ROYAL SOC CHEMISTRY2023

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Spatial understanding and communication are essential skills in human interaction. An adequate understanding of others' spatial perspectives can increase the quality of the interaction, both perceptually and cognitively. In this paper, we take the first st ...

New York2022

Highly Integrated Multi-Material Fibers for Soft Robotics

Fabien Sorin, Stella Andréa Françoise Laperrousaz, Hritwick Banerjee, Andreas Leber, Chaoqun Dong, Nicola Bartolomei, Bastien Schyrr

Soft robots are envisioned as the next generation of safe biomedical devices in minimally invasive procedures. Yet, the difficulty of processing soft materials currently limits the size, aspect-ratio, manufacturing throughput, as well as, the design comple ...

WILEY2022

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The slogan “robots will pervade our environment” has become a reality. Drones and ground robots are used for commercial purposes while semi-autonomous driving systems are standard accessories to traditional cars. However, while our eyes have been riveted o ...

2021

Underwater soft robots are challenging to model and control because of their high degrees of freedom and their intricate coupling with water. In this letter, we present a method that leverages the recent development in differentiable simulation coupled wit ...

Institute of Electrical and Electronics Engineers Inc.2021

Design and dynamic analysis of soft pneumatic systems for wearable robots

Sagar Dattatray Joshi

There are many challenges in the development of pneumatically powered soft robots due to the non-linearities of the materials used, non-linear pneumatic flow, complex non-standard designs, and high compliance that leads to loading-specific mechanical behav ...

EPFL2021

Multimodal pipe-climbing robot with origami clutches and soft modular legs

Jamie Paik, Frédéric Henri Vaskin Giraud, Hongying Zhang, Yongkang Jiang

In nature, climbing trees and pipes of varying diameters or even navigating inside of hollow pipes and tree holes is easy for some climbing animals and insects. However, today's pipe-climbing robots, which are important for automatically conducting periodi ...

2020

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The inherent compliance of soft robots often makes it difficult for them to exert forces on surrounding surfaces or withstand mechanical loading. Controlled stiffness is a solution to empower soft robots with the ability to apply large forces on their envi ...

2020