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 …
PDF Cite Project DOI
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 …
PDF Cite Project DOI
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, …
PDF Cite Project DOI
Motion Planning and Iterative Learning Control of a Modular Soft Robotic Snake
Ori-Vent: Design and Prototyping of Accessible and Portable Origami-Inspired Ventilators
The COVID-19 pandemic is responsible for hundreds of thousands of deaths worldwide and remains a challenge that humanity must still …
PDF Cite Project Video Source Document DOI
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 …
PDF Cite Project DOI
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 …
PDF Cite Project DOI
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 …
PDF Cite Project Project Video DOI
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 …
PDF Cite Project DOI
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 …
PDF Cite Project Project DOI