3 papers
cs.RO2023
Stiffness Change for Reconfiguration of Inflated Beam Robots
Brian H. Do, Shuai Wu, Ruike Renee Zhao +1
Active control of the shape of soft robots is challenging. Despite having an infinite number of passive degrees of freedom (DOFs), soft robots typically only have a few actively co…
cs.RO2023
Passive Shape Locking for Multi-Bend Growing Inflated Beam Robots
Rianna Jitosho, Sofia Simon-Trench, Allison M. Okamura +1
Shape change enables new capabilities for robots. One class of robots capable of dramatic shape change is soft growing "vine" robots. These robots usually feature global actuation…
cs.RO2021
Task-Specific Design Optimization and Fabrication for Inflated-Beam Soft Robots with Growable Discrete Joints
Ioannis Exarchos, Karen Wang, Brian H. Do +4
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,…