4 papers
Reconciling distributed compliance with high-performance control in continuum soft robotics
Vito Daniele Perfetta, Daniel Feliu-Talegon, Ebrahim Shahabi +1
High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise arc…
SENSE-STEP: Learning Sim-to-Real Locomotion for a Sensory-Enabled Soft Quadruped Robot
Storm de Kam, Ebrahim Shahabi, Cosimo Della Santina
Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, whil…
3D Printable Gradient Lattice Design for Multi-Stiffness Robotic Fingers
Siebe J. Schouten, Tomas Steenman, Rens File +5
Human fingers achieve exceptional dexterity and adaptability by combining structures with varying stiffness levels, from soft tissues (low) to tendons and cartilage (medium) to bon…
Mastering Contact-rich Tasks by Combining Soft and Rigid Robotics with Imitation Learning
Mariano Ramírez Montero, Ebrahim Shahabi, Giovanni Franzese +3
Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, bu…