4 papers
An End-to-End Framework for Modelling Pneumatic Soft Robots Based on Differentiable Finite Element Methods
Shaohong Zhong, Yao Yao, Perla Maiolino +1
Soft robots present significant modelling challenges due to their non-linearity, complex dynamics and potentially intricate geometries. These difficulties in accurate system identi…
Generalized Task-Driven Design of Soft Robots via Reduced-Order FEM-based Surrogate Modeling
Yao Yao, David Howard, Perla Maiolino
Task-driven design of soft robots requires models that are physically accurate and computationally efficient, while remaining transferable across actuator designs and task scenario…
JAMMit! Monolithic 3D-Printing of a Bead Jamming Soft Pneumatic Arm
Yao Yao, Maximilian Westermann, Marco Pontin +2
3D-printed bellow soft pneumatic arms are widely adopted for their flexible design, ease of fabrication, and large deformation capabilities. However, their low stiffness limits the…
SPADA: A Toolbox of Designing Soft Pneumatic Actuators for Shape Matching based on Surrogate Modeling
Yao Yao, Liang He, Perla Maiolino
Soft pneumatic actuators (SPAs) produce motions for soft robots with simple pressure input, however they require to be appropriately designed to fit the target application. Availab…