2023 IEEE International Conference on Soft Robotics (RoboSoft)最新文献_第10页

A Modular Bio-inspired Robotic Hand with High Sensitivity 具有高灵敏度的模块化仿生机械手

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10121946

Chao Liu, Andrea Moncada, Hanna Matusik, Deniz Irem Erus, D. Rus

引用次数: 2

Squeeze-in Functionality for a Soft Parallel Robot Gripper 一种柔性并联机器人夹持器的挤压功能

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10122086

Metodi Netzev, Alexandre Angleraud, R. Pieters

引用次数: 1

A Vacuum-Powered Soft Mesh Gripper for Compliant and Effective Grasping 一种灵活有效的真空软网抓取器

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10122056

Xinquan Liang, Yuzhe Wang, Xie Zhen, S. Ocak

引用次数: 1

Dynamically Feasible Trajectory Generation for Soft Robots 柔性机器人动态可行轨迹生成

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10122016

Haley Sanders, Marc D. Killpack

{"title":"Dynamically Feasible Trajectory Generation for Soft Robots","authors":"Haley Sanders, Marc D. Killpack","doi":"10.1109/RoboSoft55895.2023.10122016","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122016","url":null,"abstract":"Potential applications for large-scale soft robots include interacting with humans while carrying a heavy load, navigating in clutter, executing impact tasks like hammering a nail into a wall, and so much more. Because of their compliance and lack of fragile gear trains, soft robots are uniquely suited to these tasks. However, we expect that path planning may be more constrained by soft robot kinematics and dynamics than traditional rigid robots. Generating dynamically feasible trajectories for soft robots (especially large-scale soft robots with higher payloads) is critical to the success of low-level controllers tracking reference trajectories. This paper introduces an optimization method to generate task and joint space trajectories for soft robots that satisfy kinematic and dynamic constraints which are unique to large-scale soft robots. The method presented in this paper is an offline trajectory generator that is then fed to a low-level PID joint angle controller. We conduct two experiments to validate this method on a continuum pneumatic soft robot of length 1.19 meters in both simulation and on hardware. We show that this is a viable method of planning trajectories for soft robots with a reported median magnitude of error of 0.032 meters between the planned and actual end effector trajectories.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125809649","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Hybrid Soft-Rigid Continuum Robot Inspired by Spider Monkey Tail 受蜘蛛猴尾巴启发的混合软-刚性连续体机器人

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10122106

Mary C. Doerfler, Katalin Schäffer, Margaret M. Coad

{"title":"Hybrid Soft-Rigid Continuum Robot Inspired by Spider Monkey Tail","authors":"Mary C. Doerfler, Katalin Schäffer, Margaret M. Coad","doi":"10.1109/RoboSoft55895.2023.10122106","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122106","url":null,"abstract":"Spider monkeys (genus Ateles) have a prehensile tail that functions as a flexible, multipurpose fifth limb, enabling them to navigate complex terrains, grasp objects of various sizes, and swing between supports. Inspired by the spider monkey tail, we present a life size hybrid soft-rigid continuum robot designed to imitate the function of the tail. Our planar design has a rigid skeleton with soft elements at its joints that achieve decreasing stiffness along its length. Five manually-operated wires along this central structure control the motion of the tail to form a variety of possible shapes in the 2D plane. Our design also includes a skin-like silicone and fabric tail pad that moves with the tail's tip and assists with object grasping. We quantify the force required to pull various objects out of the robot's grasp and demonstrate that this force increases with the object diameter and the number of edges in a polygonal object. We demonstrate the robot's ability to grasp, move, and release objects of various diameters, as well as to navigate around obstacles, and to retrieve an object after passing under a low passageway.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115948345","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Characterisation and control platform for pneumatically driven soft robots: Design and applications 气动软机器人的特性与控制平台:设计与应用

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10122041

Jialei Shi, Wenlong Gaozhang, Hanyu Jin, Ge Shi, H. Wurdemann

{"title":"Characterisation and control platform for pneumatically driven soft robots: Design and applications","authors":"Jialei Shi, Wenlong Gaozhang, Hanyu Jin, Ge Shi, H. Wurdemann","doi":"10.1109/RoboSoft55895.2023.10122041","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122041","url":null,"abstract":"Driven by performance criteria and requirements from specific applications in healthcare for instance, the soft robotics community has created a huge amount of different designs for pneumatically actuated soft robots. The assessment with regard to these criteria usually involves a full characterisation of the soft robotic system. In order to support these efforts during the prototyping phase and standardise assessment procedures, a physical platform is described in this paper that allows to gain essential insights into the characterisation and validation of control algorithms for pneumatically driven soft robots. The platform can be connected to a MATLAB Graphical User Interface allowing to send pressure values as well as record and plot data, and, hence, it is able to actuate and characterise main features of soft robots, such as the kinematics/dynamics, stiffness and force capability. The user can choose between two control units including the NI USB-6341 and Arduino Due. These components facilitate implementing and validating control algorithms using different tools, e.g., MATLAB/Simulink. To demonstrate the feasibility and functionalities of our platform, three soft robotic systems have been analysed. We present characterisation results for a variable stiffness joint, the kinematics results during the inflation of an elastic membrane and the validation of an open-loop control strategy for a soft continuum robot.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114666500","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

A Soft Gripper for Automating Split Operation of Silkworm 一种用于蚕自动分体操作的软夹持器

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10122050

Oki Morikage, Zhongkui Wang, S. Hirai, Akira Nonaka

引用次数: 0

Dual Multilayer Extension Actuator for High Extension and High Compression Force Applications 双多层拉伸驱动器，用于高拉伸和高压缩力应用

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10122079

Jonathan William Ambrose, Dylan Sin You Cheah, R. C. Yeow

引用次数: 0

Bayesian Optimization of Pneumatic Soft Grippers via Reconfigurable Modular Molds 基于可重构模块化模具的气动软夹持器贝叶斯优化

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10121997

Tristan Sim Yook Min, Loong Yi Lee, S. Nurzaman

{"title":"Bayesian Optimization of Pneumatic Soft Grippers via Reconfigurable Modular Molds","authors":"Tristan Sim Yook Min, Loong Yi Lee, S. Nurzaman","doi":"10.1109/RoboSoft55895.2023.10121997","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10121997","url":null,"abstract":"Design optimization of soft grippers is critical to functionally exploit their compliance. However, it is difficult to predictably model or search the design space of even simple Fluidic Elastomer Actuators. This work presents a method to rapidly customize and identify desirable morphologies of pneumatic soft grippers via Bayesian Optimization of reconfigurable modular molds. With the goal of maximizing grasping success rate for a general object set, the reality-assisted optimization process uses results from physical pick and place experiments to iterate through a large array of design parameters. Suggested design parameters dictate the assembly of pre-fabricated modules in the mold to generate silicone-casted soft fingers. These fingers are integrated to form a gripper and tested to inform the next iteration. This process allows faster iterations compared to 3D printing equivalent grippers or molds, and discretizes the design space for faster search through parameter combinations. An improvement of 34% in average grasping success rate was achieved in six iterations, shedding light on desirable parameter configurations for the grasping task.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124218818","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Three-Dimensional Shape Construction in a Soft Large-Scale Vision-based Tactile Sensor with a Single Rotational Camera 单旋转相机大尺寸软视觉触觉传感器的三维形状构建

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10121933

S. Nagasawa, V. A. Ho

{"title":"Three-Dimensional Shape Construction in a Soft Large-Scale Vision-based Tactile Sensor with a Single Rotational Camera","authors":"S. Nagasawa, V. A. Ho","doi":"10.1109/RoboSoft55895.2023.10121933","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10121933","url":null,"abstract":"Soft haptic sensing interfaces based on optical methods using cameras are characterized by their simplicity in design with less complication in terms of wiring, maintenance, and so on. Also, thanks to the fact that the mechanical properties of the flexible outer skin used in such vision-based tactile sensor are not compromised, promising in high reliability with respect to noise. On the other hand, when the sensing area increases, two or more cameras need to be setup behind the soft skin for monitoring markers' displacements. Previously, we developed a barrel-shaped tactile sensor with two cameras setup at two ends of the device for extraction of three-dimensional (3-D) movement of markers. However, simultaneously processing multiple images from cameras requires much computational effort. In this paper, we describe a 3-D estimation method using the rotation of a fisheye camera setup inside the soft skin's boundary, active by a simple servo motor. Based on rotation of the camera, the sensing time, sensitivity can be adjusted actively. The proposed method not only improves the usable volume inside the sensor, but also shows more robust measurement performance with respect to deformation of the sensor's outer skin.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133929075","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0