Soft robotics

Albu‐Schäffer, Alin; Eiberger, Oliver; Grebenstein, Markus; Haddadin, Sami; Ott, Christian; Wimböck, Thomas; Wolf, Sebastian; Hirzinger, Gerd

doi:10.1109/mra.2008.927979

Cited by 453 publications

(241 citation statements)

References 18 publications

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“…We are developing a class of pneumatic machines-soft robots 1 -that are modelled on invertebrates such as starfish and octopi. 2 At their present (early) level of development, these soft robots usually move slowly, and require pneumatic tethers to a fixed location (e.g., a source of compressed air).…”

Section: Introductionmentioning

confidence: 99%

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A Hybrid Combining Hard and Soft Robots

et al. 2014

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This manuscript describes a hybrid robotic system combining hard and soft sub-systems. This hybrid comprises a wheeled robot (an iRobot Create©; hard) and a four-legged quadruped (soft).It is capable (using a simple, wireless control system) of rapid locomotion over flat terrain (using the wheeled hard robot), and of gripping and retrieval of an object (using the soft robot). The utility of this system is demonstrated by performing a mission requiring the capabilities of both components: retrieving an object (iPod Nano®) from the center of a room. This class of robothybrids comprising hard and soft systems functioning synergistically-is capable of performing tasks that neither can do alone. In contrast to specialised hard robotic arms with grippers (capable of performing some of the functions we describe here), which are complex, relatively expensive, and require sophisticated controls, this hybrid system is easy to construct, simple to control, and low in cost. The soft robotic system in the hybrid is lightweight, disposable if contaminated or damaged, and capable of multiple functions.

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Section: Introductionmentioning

confidence: 99%

“…1,7 These characteristics may be useful in hazardous, unstable, and toxic environments of the sorts encountered after natural disasters and collapsed buildings.…”

Section: Introductionmentioning

confidence: 99%

A Hybrid Combining Hard and Soft Robots

et al. 2014

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“…These are (i) to employ additional sensors to anticipate impacts, (ii) to use more complex control strategies, such as joint torque control, to reduce the severity of inevitable collisions [3] or (iii) to exploit the concept of compliant tendon-driven actuation by imitating the human muscular system.…”

Section: Introductionmentioning

confidence: 99%

Anthrob - A printed anthropomimetic robot

Jantsch

Wittmeier²,

Dalamagkidis³

et al. 2013

2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)

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Abstract-Anthropomimetic robotics differ from conventional approaches by capitalizing on the replication of the inner structures of the human body, such as muscles, tendons, bones and joints [1]. Prominent examples for this class of robots are the robots developed at the JSK laboratory of the University of Tokyo and the robots developed by the EU-funded project Embodied Cognition in a Compliantly Engineered Robot (Eccerobot). However, the high complexity of these robots as well as their lack of sensors has so far failed to provide the desired new insights in the field of control.Therefore, we developed the simplified but sensorized robot Anthrob. The robot replicates the human upper limb and features 13 compliant tendon driven uni-and biarticular muscles as well as a spherical shoulder joint. Whenever possible, Selective Laser Sintering (SLS) was used for the production of the robot parts to reduce the production costs and to implement cutting-edge technologies, such as tendon canals or solid-state joints.

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“…In the early eras of robotics, compliance was considered as somewhat of a nuisance since it brought about many control challenges. Better models and control schemes and ubiquitous use of robots have made compliance important for safe robotics today (Albu-Schaffer et al, 2008). Haddadin et al (2009) indicated that playing with compliance has a limited effect.…”

mentioning

confidence: 99%

On Intrinsic Safety of Soft Robots

Abidi

Cianchetti

2017

Front. Robot. AI

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The rapidly growing field of soft robotics owes its success to the vast vistas of possibilities they promise. They may be utilized as standalone systems or work in harmony with the existing robotic technologies. Being based on soft and/or flexible materials, soft robots have usually high dexterity and, at the same time, they are also often considered “intrinsically safe.” This is generally true and soft-bodied robots can be considered safer from a mechanical point of view, but this is sometimes improperly used. The identification of possible safety loopholes in soft robots is the subject of this paper. After a general overview of safety in robotics, we reported an overview of the main sources of unsafe conditions that may arise by the use of soft robotics technologies. Safety aspects are discussed in three categories: quasi-static, dynamic, and material failure. Some safety factors exclusive to soft robots such as whiplash-like effect and energy stored in highly strained elements are also introduced. Measures to avoid such unsafe conditions are presented such as establishing operational limits and introduction of inspection regimes and arrest systems

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Soft robotics

Cited by 453 publications

References 18 publications

A Hybrid Combining Hard and Soft Robots

A Hybrid Combining Hard and Soft Robots

Anthrob - A printed anthropomimetic robot

On Intrinsic Safety of Soft Robots

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