Design, fabrication and control of soft robots

@article{Rus2015DesignFA,
  title={Design, fabrication and control of soft robots},
  author={D. Rus and M. Tolley},
  journal={Nature},
  year={2015},
  volume={521},
  pages={467-475}
}
Conventionally, engineers have employed rigid materials to fabricate precise, predictable robotic systems, which are easily modelled as rigid members connected at discrete joints. Natural systems, however, often match or exceed the performance of robotic systems with deformable bodies. Cephalopods, for example, achieve amazing feats of manipulation and locomotion without a skeleton; even vertebrates such as humans achieve dynamic gaits by storing elastic energy in their compliant bones and soft… Expand
A reconfigurable hybrid actuator with rigid and soft components
TLDR
The design and fabrication of a robust, hybrid bending actuator build from both rigid and soft components inspired by crustaceans is presented, where its bending radius and axis can be mechanically programmed through the selective activation of the rigid exterior joints, actuated by the soft actuators inside. Expand
Chapter 6 Rapid prototyping of soft bioactuators
The driving principle behind man-made robots is force actuation leading to a form of directed movement or locomotion. Natural systems can motivate the design and development of robots that replicateExpand
Title Discrete Cellular Soft Robotics
Soft robots offer adaptability and resilience for manipulation and control through a balance between compliance and stiffness, with continuous deformations in contrast to rigid mechanical systems.Expand
3D printing of soft robotic systems
TLDR
This Review examines the essential soft material properties for different elements of soft robots, highlighting the most relevant polymer systems and discusses advances in 3D printing technologies and soft materials for the fabrication of soft robotic systems with sophisticated capabilities, such as 3D movement and responsiveness to the environment. Expand
Bioinspired 3D Printable Soft Vacuum Actuators for Locomotion Robots, Grippers and Artificial Muscles.
TLDR
Novel 3D printable soft vacuum actuators that are inspired by the sporangium of fern trees are proposed that offer many advantages such as high actuation speed, long lifetime, large payload to weight ratio, and significant output forces. Expand
Advances in soft robot actuation and their morphological control
Robotic systems have been going through a staggering evolution over the past decades, with new generations of robots, increasingly dexterous and intelligent, being developed at an unprecedented rate.Expand
Elastic Inflatable Actuators for Soft Robotic Applications.
TLDR
This paper provides an overview of the different advanced soft actuator configurations, their design, fabrication, and applications, and reviews a particularly attractive type of soft actuators that are driven by pressurized fluids. Expand
A Fully Three-Dimensional Printed Inchworm-Inspired Soft Robot with Magnetic Actuation.
TLDR
This study proposes a fully three-dimensional (3D) printed, monolithic, and tetherless inchworm-inspired soft robot that uses magnetic actuation for linear locomotion and crawling and its structure is multimaterial heterogeneous particle-polymer composite with locally programmed material compositions. Expand
Soft morphing hand driven by SMA tendon wire
Abstract Most existing approaches to developing robotic manipulators or artificial hands have used rigid components, with joints, linkages, gears, and motors. Rigid robotic systems can perform tasksExpand
Design and Implementation of a Soft Robotic Arm Driven by SMA Coils
TLDR
This soft robotic arm can follow a two-dimensional motion with a relatively high accuracy; indeed, it displays quite a remarkable performance considering its low cost, simple structure, easy control, and small bending error. Expand
...
1
2
3
4
5
...

References

SHOWING 1-10 OF 124 REFERENCES
Design and control of a soft and continuously deformable 2D robotic manipulation system
TLDR
Results with a robot consisting of six segments show that controlled movement of a soft and highly compliant manipulator is feasible and algorithms to compute the arm's forward and inverse kinematics in a manner consistent with piece-wise constant curvature continuum manipulators are developed. Expand
Multigait soft robot
TLDR
This manuscript describes a unique class of locomotive robot, composed exclusively of soft materials (elastomeric polymers), which is inspired by animals that do not have hard internal skeletons, and illustrates an advantage of soft robotics. Expand
Soft robotics: Biological inspiration, state of the art, and future research
Traditional robots have rigid underlying structures that limit their ability to interact with their environment. For example, conventional robot manipulators have rigid links and can manipulateExpand
Soft robotics: a bioinspired evolution in robotics.
TLDR
Emerging soft-bodied robotic systems are reviewed to endow robots with new, bioinspired capabilities that permit adaptive, flexible interactions with unpredictable environments and to reduce the mechanical and algorithmic complexity involved in robot design. Expand
Soft Robotics : A Perspective — Current Trends and Prospects for the Future
Soft robots are primarily composed of easily deformable matter such as fluids, gels, and elastomers that match the elastic and rheological properties of biological tissue and organs. Like an octopusExpand
Soft Robotics: A Perspective—Current Trends and Prospects for the Future
Abstract Soft robots are primarily composed of easily deformable matter such as fluids, gels, and elastomers that match the elastic and rheological properties of biological tissue and organs. Like anExpand
Automatic Design and Manufacture of Soft Robots
TLDR
This work presents the automated design and manufacture of static and locomotion objects in which functionality is obtained purely by the unconstrained 3-D distribution of materials and suggests that this approach to design automation opens the door to leveraging the full potential of the freeform multimaterial design space to generate novel mechanisms and deformable robots. Expand
Soft Robotics: New Perspectives for Robot Bodyware and Control
TLDR
Soft robotics is not just a new direction of technological development, but a novel approach to robotics, unhinging its fundamentals, with the potential to produce a new generation of robots, in the support of humans in the authors' natural environments. Expand
Soft robot for gait rehabilitation of spinalized rodents
  • Y. S. Song, Yi Sun, +4 authors J. Paik
  • Engineering, Computer Science
  • 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • 2013
TLDR
The use of soft pneumatic actuators for a biomedical use - the development of a soft robot for rodents, aimed to provide a physical assistance during gait rehabilitation of a spinalized animal. Expand
A Recipe for Soft Fluidic Elastomer Robots
TLDR
Three viable actuator morphologies composed entirely from soft silicone rubber are explored, and these morphologies are differentiated by their internal channel structure, namely, ribbed, cylindrical, and pleated. Expand
...
1
2
3
4
5
...