Wonjin Kim,Soohyun Lim,Sangryul Kim et al.
Wonjin Kim et al.
Ionic polymer-metal composites (IPMCs) are prominent soft actuators for millimeter-scale robotics due to their large bending deformation and high force-to-weight ratio. This work introduces an integrated soft robotic system featuring a thre...
Integrated Multicomponent Modeling and Optimal Design for Antagonistic Shape Memory Alloy Bending Joint [0.03%]
基于多场耦合的变刚度形状记忆合金弯管接头集成建模及优化设计
Jianghua Chen,Jibiao Chen,Qingpeng Ding et al.
Jianghua Chen et al.
Shape memory alloys (SMAs) are highly suitable for flexible and soft robots due to their lightweight nature, high power density, and miniaturization potential. However, the design of SMA-based continuum bending joints for robotic applicatio...
MAT-DiSMech: A Discrete Differential Geometry-Based Computational Tool for Simulation of Rods, Shells, and Soft Robots [0.03%]
基于离散微分几何的计算工具MAT-DiSMech用于模拟刚体、壳体和软体机器人
Radha Lahoti,Mohammad Khalid Jawed
Radha Lahoti
Accurate and efficient simulation tools are essential in robotics, enabling the visualization of system dynamics and the validation of control laws before committing resources to physical experimentation. Developing physically accurate simu...
Luca Romanello,Heinrich Stengel,Daniel Joseph Amir et al.
Luca Romanello et al.
Soft underwater grippers are well-suited for ecological sampling, providing flexibility in handling specimens of different sizes and shapes while reducing environmental impact through their compliance. Yet they are usually employed on big r...
HyReach: Vision-Guided Hybrid Manipulator Reaching in Cluttered Unseen Environments [0.03%]
基于视觉的混合 manipulator 在杂乱未见环境中的抓取研究 HyReach
Shivani Kamtikar,Kendall Koe,Justin Wasserman et al.
Shivani Kamtikar et al.
As robotic systems increasingly operate in unstructured, cluttered, and previously unseen environments, there is a growing need for manipulators that combine compliance, adaptability, and precise control. This work presents a real-time hybr...
Biologically Constrained Insect Models Enable Realistic Simulations and Improve Biomechanical Predictions of Locomotion [0.03%]
受生物学限制的昆虫模型能够进行逼真的仿真并改善运动生物力学预测
Omer Yuval,Elad Ozeri,Avi Amir et al.
Omer Yuval et al.
Animal locomotion emerges from the complex interplay of morphology, neural control, and biomechanics, involving both active and passive elements. Insects have attracted much interest, and a rich ecosystem of computational models exists for ...
Dynamic Modeling of a Soft Eversion-Based Growing Robot: Physical Analysis, Simulation, and Experimental Validation [0.03%]
基于软翻转的生长机器人的动态建模：物理分析、仿真与实验验证
Abdonoor Kalibala,Ayman A Nada,Hiroyuki Ishii et al.
Abdonoor Kalibala et al.
Soft eversion-based growing robots, also known as vine robots, are a subclass of soft continuum robots that navigate their environment through tip extension-an eversion-based growth mechanism inspired by climbing plants. A deeper understand...
Tapered Magnetic Soft Continuum Catheters with Integrated Microchannels for Cerebral Intra-Arterial Chemotherapy Delivery [0.03%]
具有集成微通道的锥形磁性软连续体导管，用于脑动脉内化疗递送
Alistair Bacchetti,Peter Lloyd,Michael Brockdorff et al.
Alistair Bacchetti et al.
Magnetic soft continuum robots (MSCRs) offer the possibility for wireless manipulation, compliant shape-forming, and miniaturization to the milli- and submillimeter scales. This presents them as an attractive choice in the development of ro...
Bistable Steering Mechanism for Enhanced Control in Soft Toroidal Robots [0.03%]
用于软环形机器人增强控制的双稳态转向机构
Shinwoo Park,Nam Gyun Kim,Dongoh Seo et al.
Shinwoo Park et al.
Navigating confined and complex environments, such as pipes, biological tissues, and collapsed debris, has remained a challenge for conventional robotic systems, which often struggle with maneuverability and adaptability. Soft toroidal robo...
Low-Heat and Near-Silent Pneumatic Source Driven by Integrated Endothermic-Exothermic Chemical Reactions for Soft Robots [0.03%]
用于软体机器人的集成吸热放热化学反应驱动低发热近乎无噪声的气源
Ung Heo,Junhwan Choi,Sangjoon J Kim et al.
Ung Heo et al.
Among various soft actuators, soft pneumatic actuators (SPAs) powered by pressurized gases have been widely adopted due to their structural simplicity, ease of fabrication, and ability to generate diverse and adaptable motions. However, con...