343 citations · 610 across the 13 of their papers we have counts for
13 papers
Cosserat Modeling of Trimmed Helicoid Soft Arms with a Separated-Section Constitutive Law
Zhihang Qin, Linxin Hou, Zeyu Zhong +10
Cosserat rod models for soft robots usually construct sectional stiffness by summing material properties over a common cross-section. This assumption becomes inaccurate for trimmed…
ZodiAq: An Isotropic Flagella-Inspired Soft Underwater Drone for Safe Marine Exploration
Anup Teejo Mathew, Daniel Feliu-Talegon, Yusuf Abdullahi Adamu +5
The inherent challenges of robotic underwater exploration, such as hydrodynamic effects, the complexity of dynamic coupling, and the necessity for sensitive interaction with marine…
Soft Vision-Based Tactile-Enabled SixthFinger: Advancing Daily Objects Manipulation for Stroke Survivors
Basma Hasanen, Mashood M. Mohsan, Abdulaziz Y. Alkayas +2
The presence of post-stroke grasping deficiencies highlights the critical need for the development and implementation of advanced compensatory strategies. This paper introduces a n…
Real-time Dynamics of Soft Manipulators with Cross-section Inflation: Application to the Octopus Muscular Hydrostat
Yuchen Sun, Anup Teejo Mathew, Imran Afgan +2
Inspired by the embodied intelligence of biological creatures like the octopus, the soft robotic arm utilizes its highly flexible structure to perform various tasks in the complex…
Analytical Derivatives for Efficient Mechanical Simulations of Hybrid Soft Rigid Robots
Anup Teejo Mathew, Frederic Boyer, Vincent Lebastard +1
Algorithms that use derivatives of governing equations have accelerated rigid robot simulations and improved their accuracy, enabling the modeling of complex, real-world capabiliti…
Rod models in continuum and soft robot control: a review
Carlo Alessi, Camilla Agabiti, Daniele Caradonna +3
Continuum and soft robots can transform automation tasks requiring compliant interaction in constrained or unstructured environments, including healthcare, agriculture, marine, and…
Soft Synergies: Model Order Reduction of Hybrid Soft-Rigid Robots via Optimal Strain Parameterization
Abdulaziz Y. Alkayas, Anup Teejo Mathew, Daniel Feliu-Talegon +3
Soft robots offer remarkable adaptability and safety advantages over rigid robots, but modeling their complex, nonlinear dynamics remains challenging. Strain-based models have rece…
Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and its Application to Soft Robotics
Pietro Pustina, Cosimo Della Santina, Frédéric Boyer +2
Suitable representations of dynamical systems can simplify their analysis and control. On this line of thought, this paper aims to answer the following question: Can a transformati…
Data-driven Methods Applied to Soft Robot Modeling and Control: A Review
Zixi Chen, Federico Renda, Alexia Le Gall +6
Soft robots show compliance and have infinite degrees of freedom. Thanks to these properties, such robots can be leveraged for surgery, rehabilitation, biomimetics, unstructured en…
Soft Robots Modeling: a Structured Overview
Costanza Armanini, Frédéric Boyer, Anup Teejo Mathew +2
The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions h…
A MATLAB Toolbox for Hybrid Rigid Soft Robots Based on the Geometric Variable Strain Approach
Anup Teejo Mathew, Ikhlas Ben Hmida, Costanza Armanini +2
Soft robotics has been a trending topic within the robotics community for almost two decades. However, available tools for the modeling and analysis of soft robots are still limite…
Discrete Cosserat Approach for Multi-Section Soft Robots Dynamics
Federico Renda, Frederic Boyer, Jorge Dias +1
In spite of recent progress, soft robotics still suffers from a lack of unified modeling framework. Nowadays, the most adopted model for the design and control of soft robots is th…
Modelling the Nonlinear Response of Fibre-reinforced Bending Fluidic Actuators
Vito Cacucciolo, Federico Renda, Ernesto Poccia +2
Soft actuators are receiving increasing attention from the engineering community, not only in research but even for industrial applications. Among soft actuators, fibre-reinforced…