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cs.RO2022
A geometric approach towards inverse kinematics of soft extensible pneumatic actuators intended for trajectory tracking
Mahboubeh Keyvanara, Arman Goshtasbi, Irene A. Kuling
Soft robots are interesting examples of hyper-redundancy in robotics, however, the nonlinear continuous dynamics of these robots and the use of hyper-elastic and visco-elastic mate…
cs.RO2022
A Bioinspired Stiffness Tunable Sucker for Passive Adaptation and Firm Attachment to Angular Substrates
Arman Goshtasbi, Ali Sadeghi
The ability to adapt and conform to angular and uneven surfaces improves the suction cup's performance in grasping and manipulation. However, in most cases, the adaptation costs la…