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Control strategies for soft robotic manipulators: A survey
T George Thuruthel, Y Ansari, E Falotico, C Laschi - Soft robotics, 2018 - liebertpub.com
With the rise of soft robotics technology and applications, there have been increasing
interests in the development of controllers appropriate for their particular design. Being …
interests in the development of controllers appropriate for their particular design. Being …
Design, fabrication and control of soft robots
Conventionally, engineers have employed rigid materials to fabricate precise, predictable
robotic systems, which are easily modelled as rigid members connected at discrete joints …
robotic systems, which are easily modelled as rigid members connected at discrete joints …
Soft manipulators and grippers: A review
J Hughes, U Culha, F Giardina, F Guenther… - Frontiers in Robotics …, 2016 - frontiersin.org
Soft robotics is a growing area of research which utilizes the compliance and adaptability of
soft structures to develop highly adaptive robotics for soft interactions. One area in which soft …
soft structures to develop highly adaptive robotics for soft interactions. One area in which soft …
Intelligent soft surgical robots for next‐generation minimally invasive surgery
Endowed with the expected visions for future surgery, minimally invasive surgery (MIS) has
become one of the most rapid develo** areas in modern surgery. Soft robotics, which …
become one of the most rapid develo** areas in modern surgery. Soft robotics, which …
A recipe for soft fluidic elastomer robots
AD Marchese, RK Katzschmann, D Rus - Soft robotics, 2015 - liebertpub.com
This work provides approaches to designing and fabricating soft fluidic elastomer robots.
That is, three viable actuator morphologies composed entirely from soft silicone rubber are …
That is, three viable actuator morphologies composed entirely from soft silicone rubber are …
Design, kinematics, and control of a soft spatial fluidic elastomer manipulator
AD Marchese, D Rus - The International Journal of Robotics …, 2016 - journals.sagepub.com
This paper presents a robotic manipulation system capable of autonomously positioning a
multi-segment soft fluidic elastomer robot in three dimensions. Specifically, we present an …
multi-segment soft fluidic elastomer robot in three dimensions. Specifically, we present an …
Visual servoing of soft robot manipulator in constrained environments with an adaptive controller
It is unavoidable for a soft manipulator to interact with environments during some tasks.
These interactions may affect the soft manipulator and make the kinematic model different …
These interactions may affect the soft manipulator and make the kinematic model different …
Underwater soft robotics: A review of bioinspiration in design, actuation, modeling, and control
SM Youssef, MA Soliman, MA Saleh, MA Mousa… - Micromachines, 2022 - mdpi.com
Nature and biological creatures are some of the main sources of inspiration for humans.
Engineers have aspired to emulate these natural systems. As rigid systems become …
Engineers have aspired to emulate these natural systems. As rigid systems become …
Design and control of a soft and continuously deformable 2d robotic manipulation system
AD Marchese, K Komorowski… - … conference on robotics …, 2014 - ieeexplore.ieee.org
In this paper we describe the design, fabrication, control, and experimental validation of a
soft and highly compliant 2D manipulator. The arm consists of several body segments …
soft and highly compliant 2D manipulator. The arm consists of several body segments …
Vision-based online learning kinematic control for soft robots using local gaussian process regression
Soft robots, owing to their elastomeric material, ensure safe interaction with their
surroundings. These robot compliance properties inevitably impose a tradeoff against …
surroundings. These robot compliance properties inevitably impose a tradeoff against …