• Corpus ID: 232146870

Task-Specific Design Optimization and Fabrication for Inflated-Beam Soft Robots with Growable Discrete Joints

  title={Task-Specific Design Optimization and Fabrication for Inflated-Beam Soft Robots with Growable Discrete Joints},
  author={Ioannis Exarchos and Brian H. Do and Fabio Stroppa and Margaret M. Coad and Allison M. Okamura and C. Karen Liu},
Soft robot serial chain manipulators with the capability for growth, stiffness control, and discrete joints have the potential to approach the dexterity of traditional robot arms, while improving safety, lowering cost, and providing an increased workspace, with potential application in home environments. This paper presents an approach for design optimization of such robots to reach specified targets while minimizing the number of discrete joints and thus construction and actuation costs. We… 
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