Source Themes

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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Motion Planning and Iterative Learning Control of a Modular Soft Robotic Snake
Snake robotics is an important research topic with a wide range of applications, including inspection in confined spaces, …
Research Themes: Soft Robotic Mobility
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Motion Planning and Iterative Learning Control of a Modular Soft Robotic Snake
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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