3 papers
cs.RO2022
Hybrid Soft Robots Incorporating Soft and Stiff Elements
Dimuthu D. K. Arachchige, Isuru S. Godage
Soft robots are inherently compliant and have a strong potential to realize human-friendly and safe robots. Despite continued research highlighting the potential of soft robots, th…
cs.RO2020
Modeling and Validation of Soft Robotic Snake Locomotion
Dimuthu D. Arachchige, Yue Chen, Isuru S. Godage
Snakes are a remarkable evolutionary success story. Many snake-inspired robots have been proposed over the years. Soft robotic snakes (SRS) with their continuous and smooth bending…
cs.RO2020
A Novel Variable Stiffness Soft Robotic Gripper
Dimuthu D. Arachchige, Yue Chen, Ian D. Walker +1
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The prop…