Soft robots have been receiving unprecedented attention in recent years for being able to be used side-by-side with humans, exploring dangerous environments and confined spaces, moving across uneven terrain, and solving problems that rigid robots cannot solve. The wide range of additive manufacturing techniques has also boosted research in the area. This work summarizes the characteristics of the five most relevant techniques – FDM, DIW, SLS, Inkjet, and SLA – for fabricating soft robots together with case studies. A summary contains models of industrial-sized additive manufacturing machines that can compose a facility for fabricating large-scale soft robots.
In this paper, we experiment the use of an algorithm for motion planning, Stochastic Trajectory Optimization for Motion Planning (STOMP), in a Moveit! simulation environment. A brief presentation of the algorithm is made and its effectiveness is discussed, as well as the effects of the variation of some of its parameters.Resumo-Neste trabalho, experimenta-se a utilização de um algoritmo para planejamento de trajetória, Stochastic Trajectory Optimization for Motion Planning (STOMP), em um ambiente de simulação provido pelo Moveit!. Uma breve apresentação do algoritmoé feita e sua eficáciaé discutida, bem como os efeitos da variação de alguns dos seus parâmetros.
Currently, mobile robots have been used in different scenarios and applications, even for household chores. Using these devices can increase safety and productivity, especially in industrial operations. This study aims to identify gap technologies through an updated selection and comparison of wheeled unmanned ground vehicles (UGVs). Based on a systematic review and classification of commercially available robots, the results indicated established technologies while opportunities for research, development and innovation on mobile robotics can be found in user interface, connectivity and intervention features.
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