From a functional standpoint, classic robots are not at all similar to biological systems. If compared with rigid robots, animals' bodies look overly redundant, imprecise, and weak …
Herein, recent advances, current limitations, and open challenges in the design, modeling, and control of continuum robots are discussed. Thanks to their lean bodies, these robots …
C Armanini, F Boyer, AT Mathew… - IEEE Transactions on …, 2023 - ieeexplore.ieee.org
The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions have …
With the maturity of surgical robotic systems based on traditional rigid-link principles, the rate of progress slowed as limits of size and controllable degrees of freedom were reached …
X Chen, X Zhang, Y Huang, L Cao… - Journal of Field …, 2022 - Wiley Online Library
Soft manipulator is a kind of special manipulator that uses soft material or flexible structure to perform manipulation task under the specific drive mode inspired by the soft tissue. It is …
Piecewise constant curvature models have proven to be an useful tool for describing kinematics and dynamics of soft robots. However, in their three dimensional formulation they …
X Huang, J Zou, G Gu - IEEE/ASME Transactions on …, 2021 - ieeexplore.ieee.org
The compliant structure and influence of external forces usually result in complex deformation of soft continuum robots, which makes the accurate modeling and control of the …
The physical characteristics of animals' bodies are substantially different from those of classic robots. Elastic tendons, ligaments, and muscles enable animals to robustly interact …
Soft robots are primarily composed of soft materials that can allow for mechanically robust maneuvers that are not typically possible with conventional rigid robotic systems. However …