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Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering

Publications associées (36)

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For soft robots to leave the lab and enter unstructured environments, proprioception is required to understand how interactions in the field affect the soft structure. In this work, we present sensor-embedded soft pneumatic actuators (sSPA) that can observ ...

IEEE2018

A Soft Robot for Random Exploration of Terrestrial Environments

Dario Floreano, Stefano Mintchev, Davide Zappetti, Jérémie Willemin

A swarm of randomly moving miniature robots is an effective solution for the exploration of unknown terrains. However, the deployment of a swarm of miniature robots poses two challenges: finding an adequate locomotion strategy for fast exploration and obst ...

IEEE2018

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

Soft Robotic Grippers

Dario Floreano, Herbert Shea, Jun Shintake, Vito Cacucciolo

Advances in soft robotics, materials science, and stretchable electronics have enabled rapid progress in soft grippers. Here, a critical overview of soft robotic grippers is presented, covering different material sets, physical principles, and device archi ...

2018

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We discuss challenges a sprawling posture legged robot faces when moving in a complex environment. These kind of robots can be used for search and rescue applications when proper sensors are used and placed correctly. Finding an adequate position for placi ...

2017

New soft robots really suck: Vacuum-powered systems empower diverse capabilities

Jamie Paik, Matthew Aaron Robertson

We introduce a vacuum-powered soft pneumatic actuator (V-SPA) that leverages a single, shared vacuum power supply and enables complex soft robotic systems with multiple degrees of freedom (DoFs) and diverse functions. In addition to actuation, other utilit ...

2017

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Soft pneumatic actuators (SPAs) are found in mobile robots, assistive wearable devices, and rehabilitative technologies. While soft actuators have been one of the most crucial elements of technology leading the development of the soft robotics field, they ...

Mary Ann Liebert, Inc2017

Bilayered polyurethane/dipole-dipole and H-bonding interaction reinforced hydrogels as thermo-responsive soft manipulators

Paul Joseph Dyson, Zhaofu Fei, Xunhui Wang, Zhangjun Huang, Haiyan Jia

Dipole-dipole and hydrogen-bonding interaction reinforced (DHIR) hydrogels that demonstrate both excellent thermo-responsive volume change and high mechanical strength have been developed. Their thermo-responsive volume change originates from the balance b ...

Royal Soc Chemistry2017

News and Views: Soft Solutions for Hard Problems [Society News]

Josephine Anna Eleanor Hughes

Institute of Electrical and Electronics Engineers Inc.2016

Auxetic Metamaterial Simplifies Soft Robot Design

Peer Fischer, Tian Qiu

Soft materials are being adopted in robotics in order to facilitate biomedical applications and in order to achieve simpler and more capable robots. One route to simplification is to design the robot's body using 'smart materials' that carry the burden of ...

Ieee2016