3 papers
cs.RO2024
Real-Time Trajectory Generation for Soft Robot Manipulators Using Differential Flatness
Akua Dickson, Juan C. Pacheco Garcia, Ran Jing +2
Soft robots have the potential to interact with sensitive environments and perform complex tasks effectively. However, motion plans and trajectories for soft manipulators are chall…
cs.RO2024
Maximizing Consistent Force Output for Shape Memory Alloy Artificial Muscles in Soft Robots
Meredith L. Anderson, Ran Jing, Juan C. Pacheco Garcia +4
Soft robots have immense potential given their inherent safety and adaptability, but challenges in soft actuator forces and design constraints have limited scaling up soft robots t…
cs.RO2022
Safe Supervisory Control of Soft Robot Actuators
Andrew P. Sabelhaus, Zach J. Patterson, Anthony T. Wertz +1
Although soft robots show safer interactions with their environment than traditional robots, soft mechanisms and actuators still have significant potential for damage or degradatio…