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Powerful 2D Soft Morphing Actuator Propels Giant Manta Ray Robot

Publications associées (46)

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Adhesion of a tape loop

Harmeet Singh

In this work, we revisit experimentally and theoretically the mechanics of a tape loop. Using primarily elastic materials (polydimethylsiloxane, PDMS, or polycarbonate, PC) and confocal microscopy, we monitor the shape as well as the applied forces during ...

ROYAL SOC CHEMISTRY2020

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

Aude Billard, Mahdi Khoramshahi, Walid Amanhoud

Many tasks require the robot to enter in contact with surfaces, be it to take support, to polish or to grasp an object. It is crucial that the robot controls forces both upon making contact and while in contact. While many solutions exist to control for co ...

Robotics: Science and Systems (RSS)2019

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

Aude Billard, Mahdi Khoramshahi, Walid Amanhoud

MIT PRESS2019

Delicate yet strong: characterizing the electro-adhesion lifting force with a soft gripper

Herbert Shea, Jun Shintake, Vito Cacucciolo

Compliant grippers are one of the most promising soft robotic devices for industrial tasks. Soft grippers dramatically simplify grasping control because the gripper automatically conforms to the object's shape. A common limitation of soft structures is tha ...

IEEE2019

RoboScallop: A Bivalve Inspired Swimming Robot

Jamie Paik, Matthew Aaron Robertson

Underwater swimming robots permit remote access to over 70% of the Earth's surface that is covered in water for a variety of scientific, environmental, tactical, or industrial purposes. Many practical applications for robots in this setting include sensing ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2019

Modular soft pneumatic actuator system design for compliance matching

Matthew Aaron Robertson

The future of robotics is personal. Never before has technology been as pervasive as it is today, with advanced mobile electronics hardware and multi-level network connectivity pushing âsmartâ devices deeper into our daily lives through home automation ...

EPFL2019

Stretchable pumps for soft machines

Dario Floreano, Herbert Shea, Jun Shintake, Vito Cacucciolo, Yu Kuwajima

Machines made of soft materials bridge life sciences and engineering. Advances in soft materials have led to skin-like sensors and muscle-like actuators for soft robots and wearable devices. Flexible or stretchable counterparts of most key mechatronic comp ...

2019

Automatic extraction of constraints in manipulation tasks for autonomy and interaction

Ana-Lucia Ureche

Tasks routinely executed by humans involve sequences of actions performed with high dexterity and coordination. Fully specifying these actions such that a robot could replicate the task is often difficult. Furthermore the uncertainties introduced by the us ...

EPFL2018

An Overview on Principles for Energy Efficient Robot Locomotion

Salman Faraji

Despite enhancements in the development of robotic systems, the energy economy of today's robots lags far behind that of biological systems. This is in particular critical for untethered legged robot locomotion. To elucidate the current stage of energy eff ...

FRONTIERS MEDIA SA2018

Control of Bio-Inspired Sprawling Posture Quadruped Robots with an Actuated Spine

Tomislav Horvat

Sprawling posture robots are characterized by upper limb segments protruding horizontally from the body, resulting in lower body height and wider support on the ground. Combined with an actuated segmented spine and tail, such morphology resembles that of s ...

EPFL2018