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Fast Probabilistic 3-D Curvature Proprioception with a Magnetic Soft Sensor
This paper introduces a cost-effective and high speed approach for predicting a 2-DOF bend parameterization for soft bodies through a …
Research Themes: Soft Sensing
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SLInKi: State Lattice based Inverse Kinematics-A Fast, Accurate, and Flexible IK Solver for Soft Continuum Robot Manipulators
Soft continuum robots offer unique properties that cannot be achieved using rigid linkage-based robotic bodies. Their dexterity and …
Research Themes: Soft Continuum Appendages
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Kinematic Optimization of an Underactuated Anthropomorphic Prosthetic Hand
The human hand serves as an inspiration for robotic grippers. However, the dimensions of the human hand evolved under a different set …
Research Themes: Grasping
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Kinematic Optimization of an Underactuated Anthropomorphic Prosthetic Hand
Learning to Locomote with Artificial Neural-Network and CPG-based Control in a Soft Snake Robot
In this paper, we present a new locomotion control method for soft robot snakes. Inspired by biological snakes, our control …
Research Themes: Soft Robotic Mobility
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Salamanderbot: A soft-rigid composite continuum mobile robot to traverse complex environments
Soft robots are theoretically well-suited to rescue and exploration applications where their flexibility allows for the traversal of …
Research Themes: Soft Robotic Mobility Origami Inspired Robotics
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Discretized Modeling of Planar Pneumatic Continuum Manipulators
Soft Robots, robots that are constructed out of soft materials or using compliant actuation methods, can operate safely in complex …
Research Themes: Soft Continuum Appendages
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Design and Analysis of an Origami Continuum Manipulation Module with Torsional Strength
This paper presents an origami-inspired cable-driven continuum manipulator module that offers low-cost, low-volume deployment, light …
Research Themes: Soft Continuum Appendages Origami Inspired Robotics
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