Editorial: Soft Robotic Modeling and Control: Bringing Together Articulated Soft Robots and Soft-Bodied Robots

Santina, Cosimo Della; Katzschmann, Robert K.; Bicchi, Antonio; Rus, Daniela

doi:10.1177/0278364921998088

Cited by 4 publications

(2 citation statements)

References 25 publications

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“…By combining body compliance and mechanical properties, soft robots have made it possible to develop complex human-or animal-like functions such as walking, crawling, climbing, and gripping. [1][2][3][4][5][6][7] Owing to lightweight, excellent capability of adapting to complex environments, and coexisting interaction with humans, soft robots are robust alternatives to convectional robots. [8][9][10] They have found various applications in drug delivery, biomedical systems, robotic manipulators, etc.…”

Section: Introductionmentioning

confidence: 99%

Design and characterization of electro-active soft actuator based on phase transition of microencapsulated silicon-ethanol composite

Ebrahimi,

Zamyad,

Safaei

et al. 2023

Journal of Thermoplastic Composite Materials

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In this study, we demonstrate the development of a fast-response soft composite actuator fabricated by mechanical mixing of silicone elastomer (matrix) and ethanol (as phase-change fluid). Joule heating generated by electrical actuation causes a liquid-vapor transition of ethanol embedded in silicone microcapsules; provides the required pressure for mimicking the natural movements. We discuss the critical design variables to improve the temperature response, chemical composition, mechanical properties, force generated, and microstructure of soft actuator. Our soft actuator produces a high load-to-weight ratio (1000 times greater than its own) using a low-voltage source (˂20V). The stability of the soft actuator under multiple working cycles would bring the application to different robotic areas. The actuator using the mechanism presented here is easy to manufacture, automate, and recyclable. It can be used in a range of robotic applications.

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Section: Introductionmentioning

confidence: 99%

Design and characterization of electro-active soft actuator based on phase transition of microencapsulated silicon-ethanol composite

Ebrahimi,

Zamyad,

Safaei

et al. 2023

Journal of Thermoplastic Composite Materials

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“…Meanwhile, fluidic actuation covers designs like pleated, corrugated, belloscope tip-driven, and endoscope systems [14]. To unlock the full capabilities of continuum robots, accurate modeling and control are essential to performing specific movement and manipulation tasks [15]. However, their naturally flexible and malleable nature makes modeling their dynamics a complex task [16].…”

Section: Introductionmentioning

confidence: 99%

Deep CNN-Based Static Modeling of Soft Robots Utilizing Absolute Nodal Coordinate Formulation

El-Hussieny,

Hameed,

Nada

2023

Biomimetics

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Soft continuum robots, inspired by the adaptability and agility of natural soft-bodied organisms like octopuses and elephant trunks, present a frontier in robotics research. However, exploiting their full potential necessitates precise modeling and control for specific motion and manipulation tasks. This study introduces an innovative approach using Deep Convolutional Neural Networks (CNN) for the inverse quasi-static modeling of these robots within the Absolute Nodal Coordinate Formulation (ANCF) framework. The ANCF effectively represents the complex non-linear behavior of soft continuum robots, while the CNN-based models are optimized for computational efficiency and precision. This combination is crucial for addressing the complex inverse statics problems associated with ANCF-modeled robots. Extensive numerical experiments were conducted to assess the performance of these Deep CNN-based models, demonstrating their suitability for real-time simulation and control in statics modeling. Additionally, this study includes a detailed cross-validation experiment to identify the most effective model architecture, taking into account factors such as the number of layers, activation functions, and unit configurations. The results highlight the significant benefits of integrating Deep CNN with ANCF models, paving the way for advanced statics modeling in soft continuum robotics.

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Comparative Analysis of Actuation Response in Silicone and Polyurethane Rubber Manipulators

Santos,

Mendes,

Dias

et al. 2023

2023 Latin American Robotics Symposium (LARS), 2023 Brazilian Symposium on Robotics (SBR), and 2023 Workshop on Robotics in Edu

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Editorial: Soft Robotic Modeling and Control: Bringing Together Articulated Soft Robots and Soft-Bodied Robots

Cited by 4 publications

References 25 publications

Design and characterization of electro-active soft actuator based on phase transition of microencapsulated silicon-ethanol composite

Design and characterization of electro-active soft actuator based on phase transition of microencapsulated silicon-ethanol composite

Deep CNN-Based Static Modeling of Soft Robots Utilizing Absolute Nodal Coordinate Formulation

Comparative Analysis of Actuation Response in Silicone and Polyurethane Rubber Manipulators

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