3 papers
cs.RO2026
Soft Pneumatic Grippers: Topology optimization, 3D-printing and Experimental validation
Prabhat Kumar, Chandra Prakash, Josh Pinskier +2
Typically, heuristic/trial-based approaches are used to design soft pneumatic grippers (SPGs). This paper presents a systematic topology optimization framework for developing SPGs.…
cs.RO2026
TO-SoFiT: Topology Optimization of Hydraulic Soft Fish Tail Design for programmable undulating locomotion
A Padmaprabhan, Amal Shaji, Prabhat Kumar
Soft robots leverage compliant materials to generate motion through controlled elastic deformation, making them ideal for delicate tasks such as underwater exploration and biomimet…
cs.RO2026
TiBCLaG: Hybrid design approach for a trigger-induced bistable compliant laparoscopic grasper
Joel J Nellikkunnel, Prabhat Kumar
Industrial laparoscopic graspers rely on multi-link rigid mechanisms manufactured to tight tolerances, resulting in high manufacturing and assembly costs. This work presents the de…