Vishesh Vikas

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— Soft and continuum robots have the useful capability of adopting intricate postures and conforming to complex shapes. Furthermore, structures built from soft materials propagate mechanical energy from one part of the body to another, depending on its body shape, boundary condition, stiffness distribution, and so on. This makes the robots capable of(More)
— The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics and robot-environment interaction. Traditionally, soft robot control is performed by modeling kinematics using exact(More)
—Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape, soft materials also store and release elastic energy, a feature that can be exploited for effective robot movement.(More)
—Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape profiles using minimal actuators. The shape changing ability is also a potential tool to manipulate friction forces caused by(More)
Biologically, the vestibular feedback is critical to the ability of human body to balance in different conditions. This balancing ability inspires analysis of the reference equilibrium position in dynamic environments. The research proposes and experimentally validates the concept of equilibrium for the human body modeled as an inverted pendulum, which is(More)
—Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape, soft materials also store and release elastic energy, a feature that can be exploited for effective robot movement.(More)
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