In this paper, we present, for the first time, a soft robot control system (SofToss) capable of throwing life-size objects toward target positions. SofToss is an open-loop controller based on deep reinforcement learning that generates, given the target position, an actuation pattern for the tossing task. To deal with the high non-linearity of the dynamics of soft robots, we … [Read more...] about SofToss: Learning to Throw Objects With a Soft Robot
Soft robotics
Finite Element Analysis-Based Soft Robotic Modeling: Simulating a Soft Actuator in SOFA
Soft robotics modeling is a research topic that is evolving fast. Many techniques are present in literature, but most of them require analytical models with a lot of equations that are time consuming, hard to resolve, and not so easy to handle. For this reason, the help of a soft mechanics simulator is essential in this field. This article presents a tutorial on how to build a … [Read more...] about Finite Element Analysis-Based Soft Robotic Modeling: Simulating a Soft Actuator in SOFA
A Nitinol-Embedded Wearable Soft Robotic Gripper for Deep-Sea Manipulation: A Wearable Device for Deep-Sea Delicate Operation
Soft robotic gripper systems that can safely and nondestructively collect biological and artifact samples and perform deep-sea manipulation tasks are essential for deep-sea science and engineering applications. In this article, we implement a soft robotic gripper composed of nitinol-embedded soft fingers and an in situ wearable mechanism, which allows the soft gripper to be put … [Read more...] about A Nitinol-Embedded Wearable Soft Robotic Gripper for Deep-Sea Manipulation: A Wearable Device for Deep-Sea Delicate Operation
SoRoSim: A MATLAB Toolbox for Hybrid Rigid
Soft robotics has been a trending topic within the robotics community for almost two decades. However, available tools for the modeling and analysis of soft robots are still limited. This article introduces a user-friendly MATLAB toolbox, Soft Robot Simulator (SoRoSim), that integrates the geometric variable-strain (GVS) model of Cosserat rods to facilitate the static and … [Read more...] about SoRoSim: A MATLAB Toolbox for Hybrid Rigid
Tensegristats: Lightweight Untethered Morphing Robots
Flexible and shape-shifting structures are common in nature. Creating shape-shifting machines using rigid components requires complex design work. Soft robotic attempts are closer to the muscular hydrostats they mimic but are slow and inefficient untethered and do not generally allow large-scale shape change between forms. Here we present the idea of “tensegristat” robots in … [Read more...] about Tensegristats: Lightweight Untethered Morphing Robots
