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Browsing by Subject "Soft robotics"

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Design and Characterization of a 3D Printed Soft Pneumatic Actuator

Garcia Morales, Ditzia Susana; Ibrahim, Serhat; Cao, Benjamin-Hieu; Raatz, Annika (Cham : Springer, 2020)

In soft robotics, the successful development of soft robots involves careful designing that can benefit from current technologies. The use of Finite Element Method (FEM) software and additive manufacturing is essential to ...
Dynamic Modeling of Soft-Material Actuators Combining Constant Curvature Kinematics and Floating-Base Approach

Mehl, Maximilian; Bartholdt, Max; Schappler, Moritz (Piscataway, NJ : IEEE, 2022-04-28)

Soft robotic manipulators are on the verge to their first real applications. In most cases they are actuated by fluidic pressure or tendons and molded of highly elastic material, which performs large deformation if put ...
Investigating frictional contact behavior for soft material robot simulations

Berthold, Rebecca; Burgner-Kahrs, Jessica; Wangenheim, Matthias; Kahms, Stephanie (Dordrecht [u.a.] : Springer Science + Business Media B.V, 2023)

The ability to interact safely with the environment is known as one of the major advantages of soft robots (SRs). Due to their low material stiffness, these continuously deformable robots offer inherent flexibility. These ...
Learning-based Position and Stiffness Feedforward Control of Antagonistic Soft Pneumatic Actuators using Gaussian Processes

Habich, Tim-Lukas; Kleinjohann, Sarah; Schappler, Moritz (Piscataway, NJ : IEEE, 2023-05-15)

Variable stiffness actuator (VSA) designs are manifold. Conventional model-based control of these nonlinear systems is associated with high effort and design-dependent assumptions. In contrast, machine learning offers a ...
Towards a Modular Framework for Visco-Hyperelastic Simulations of Soft Material Manipulators with Well-Parameterised Material

Bartholdt, Max; Berthold, Rebecca; Schappler, Moritz (Piscataway, NJ : IEEE, 2023-05-15)

Controller design for continuum robots maintains to be a difficult task. Testing controllers requires dedicated work in manufacturing and investment into hardware as well as software, to acquire a test bench capable of ...

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Browsing by Subject "Soft robotics"

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