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Journal articles on the topic 'Legged robotics control soft robotics robotics'

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Published: 4 June 2021
Last updated: 1 February 2022

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1

Noritsugu, Toshiro. "Special Issue on Assistive Device Technologies." Journal of Robotics and Mechatronics 11, no. 4 (August 20, 1999): 237. http://dx.doi.org/10.20965/jrm.1999.p0237.

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Mechatronics is one of the most powerful technologies to overcome various industrial and social problems arising in the 21st century, for example, realization of the recycle manufacturing system, global consideration on the environment, development of human-oriented technology. The 3rd International Conference on Advanced Mechatronics (ICAM’98)-Innovative Mechatronics for the 21st Century hass been held in Okayama August 3-6, 1998, following the 1st and 2nd held in Tokyo in 1988 and 1993, sponsored by the Japan Society of Mechanical Engineers. The purpose of the conference is to promote the creation of new technologies and industries such as advanced robotics and human-oriented technology for the coming 21st century. Two plenary talks and 35 technical sessions including 11 specially organized sessions were opened. In technical sessions, a total of 149 papers was presented, of which 61 papers were in organized sessions and 88 papers in general sessions. Some 47 papers came from 17 countries abroad and 102 papers from Japan. A number of registered participants excluding invited guests was 40 from other countries and 163 from Japan. After the technical program, the Advanced Robotics and Mechatronics symposium was held for tutorial reviews of future robotics and mechatronics, mainly focusing on ""human collaboration"" technology. More than 100 persons attended the symposium. Organized sessions included Analysis and Control of Robot Manipulators, Modeling and Control of Nonholonomic Underactuated Systems, Human Perspective Characteristics and Virtual Reality, Robotic Hand Design Grasping and Dexterous Manipulation, Healthcare Robotics, Advanced Fluid Power Control Technology, Advanced Robot Kinematics, Human Directed Robotics, Computer Support for Mechatronics System Design, Robotic Control, and Motion Control of Special Motors. Robotics was a main subject, but fluid power technology, fundamental motion control technology, and so on were also discussed. “Human collaboration” technology dealing with interaction between humans and robots attracted great attention from many participants. General sessions included Manufacturing, Vision, Micro Machine, Electric Actuator, Human-Robot Interface, Processing Technology, Fluid Actuator, Legged Locomotion, Control Strategy, Soft-Computing, Vehicle, Automation for Agriculture, Robot Force Control, Vibration, and Robot Application. Many studies have been presented over comprehensive subjects. This special issue has been organized by editing the papers presented at ICAM’98 for widely distributing the significant results of the conference. I would like to thank the authors in this special issue who have contributed their updated papers. Also, I would like to thank to Prof. Makoto Kaneko (Hiroshima University), whose work has been indispensable in organizing this special issue.
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2

Bruzzone, L., and G. Quaglia. "Review article: locomotion systems for ground mobile robots in unstructured environments." Mechanical Sciences 3, no. 2 (July 12, 2012): 49–62. http://dx.doi.org/10.5194/ms-3-49-2012.

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Abstract. The world market of mobile robotics is expected to increase substantially in the next 20 yr, surpassing the market of industrial robotics in terms of units and sales. Important fields of application are homeland security, surveillance, demining, reconnaissance in dangerous situations, and agriculture. The design of the locomotion systems of mobile robots for unstructured environments is generally complex, particularly when they are required to move on uneven or soft terrains, or to climb obstacles. This paper sets out to analyse the state-of-the-art of locomotion mechanisms for ground mobile robots, focussing on solutions for unstructured environments, in order to help designers to select the optimal solution for specific operating requirements. The three main categories of locomotion systems (wheeled – W, tracked – T and legged – L) and the four hybrid categories that can be derived by combining these main locomotion systems are discussed with reference to maximum speed, obstacle-crossing capability, step/stair climbing capability, slope climbing capability, walking capability on soft terrains, walking capability on uneven terrains, energy efficiency, mechanical complexity, control complexity and technology readiness. The current and future trends of mobile robotics are also outlined.
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Takaiwa, Masahiro, Toshiro Noritsugu, Hideyuki Tsukagoshi, Kazuhisa Ito, and Yutaka Tanaka. "Special Issue on Fluid Powered System and its Application." Journal of Robotics and Mechatronics 32, no. 5 (October 20, 2020): 853. http://dx.doi.org/10.20965/jrm.2020.p0853.

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It is well known that fluid-powered systems are used practically in almost all industrial fields, including construction, manufacturing, transportation, among others. Nowadays, the rapid growth in the development of the mechanical elements in fluid-powered systems, such as control valves, actuators, and sensors, and the rapid growth in control strategies have given rise to pioneering in some novel application fields in ways that were thought to be impossible a decade ago. High-precision positioning control using the compressible fluid of pneumatic driving systems and multi-legged robots equipped with standalone hydraulic components are simple examples. Moreover, soft robotics based on fluid-powered technologies has attracted attention not only in academia but also in human support fields, which will become more important as Japan’s society ages. This special issue on “Fluid Powered System and its Application” includes one review paper and 22 other interesting papers related to the state of the art in the development of mechanical elements, total drive systems, motion control theory, and concrete applications of fluid-powered systems. We thank all of the authors and reviewers of the papers and hope this special issue helps readers to develop fluid powered systems that will contribute to developments in the academia and industry.
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Albu-Schaffer, Alin, Oliver Eiberger, Markus Grebenstein, Sami Haddadin, Christian Ott, Thomas Wimbock, Sebastian Wolf, and Gerd Hirzinger. "Soft robotics." IEEE Robotics & Automation Magazine 15, no. 3 (September 2008): 20–30. http://dx.doi.org/10.1109/mra.2008.927979.

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5

Sayyad, Ajij, B. Seth, and P. Seshu. "Single-legged hopping robotics research—A review." Robotica 25, no. 5 (September 2007): 587–613. http://dx.doi.org/10.1017/s0263574707003487.

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SUMMARYInspired by the agility of animal and human locomotion, the number of researchers studying and developing legged robots has been increasing at a rapid rate over the last few decades. In comparison to multilegged robots, single-legged robots have only one type of locomotion gait, i.e., hopping, which represents a highly nonlinear dynamical behavior consisting of alternating flight and stance phases. Hopping motion has to be dynamically stabilized and presents challenging control problems. A large fraction of studies on legged robots has focused on modeling and control of single-legged hopping machines. In this paper, we present a comprehensive review of developments in the field of single-legged hopping robots. We have attempted to cover development of prototype models as well as theoretical models of such hopping systems.
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Rossi, Dino, Zoltán Nagy, and Arno Schlueter. "Soft Robotics for Architects: Integrating Soft Robotics Education in an Architectural Context." Soft Robotics 1, no. 2 (June 2014): 147–53. http://dx.doi.org/10.1089/soro.2014.0006.

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7

ALICI, Gursel. "Softer is Harder: What Differentiates Soft Robotics from Hard Robotics?" MRS Advances 3, no. 28 (2018): 1557–68. http://dx.doi.org/10.1557/adv.2018.159.

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ABSTRACTThis paper reports on what differentiates the field of soft (i.e. soft-bodied) robotics from the conventional hard (i.e. rigid-bodied) robotics. The main difference centres on seamlessly combining the actuation, sensing, motion transmission and conversion mechanism elements, electronics and power source into a continuum body that ideally holds the properties of morphological computation and programmable compliance (i.e. softness). Another difference is about the materials they are made of. While the hard robots are made of rigid materials such as metals and hard plastics with a bulk elastic modulus of as low as 1 GPa, the monolithic soft robots should be fabricated from soft and hard materials or from a strategic combination of them with a maximum elasticity modulus of 1 GPa. Soft smart materials with programmable mechanical, electrical and rheological properties, and conformable to additive manufacturing based on 3D printing are essential to realise soft robots. Selecting the actuation concept and its power source, which is the first and most important step in establishing a robot, determines the size, weight, performance of the soft robot, the type of sensors and their location, control algorithm, power requirement and its associated flexible and stretchable electronics. This paper outlines how crucial the soft materials are in realising the actuation concept, which can be inspired from animal and plant movements.
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Tse, Zion Tsz Ho, Yue Chen, Sierra Hovet, Hongliang Ren, Kevin Cleary, Sheng Xu, Bradford Wood, and Reza Monfaredi. "Soft Robotics in Medical Applications." Journal of Medical Robotics Research 03, no. 03n04 (September 2018): 1841006. http://dx.doi.org/10.1142/s2424905x18410064.

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Soft robotics are robotic systems made of materials that are similar in softness to human soft tissues. Recent medical soft robot designs, including rehabilitation, surgical, and diagnostic soft robots, are categorized by application and reviewed for functionality. Each design is analyzed for engineering characteristics and clinical significance. Current technical challenges in soft robotics fabrication, sensor integration, and control are discussed. Future directions including portable and robust actuation power sources, clinical adoptability, and clinical regulatory issues are summarized.
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Hawkes, Elliot W., Carmel Majidi, and Michael T. Tolley. "Hard questions for soft robotics." Science Robotics 6, no. 53 (April 28, 2021): eabg6049. http://dx.doi.org/10.1126/scirobotics.abg6049.

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The establishment of a new academic field is often characterized by a phase of rapid growth, as seen over the last decade in the field of soft robotics. However, such growth can be followed by an equally rapid decline if concerted efforts are not made by the community. Here, we argue that for soft robotics to take root and have impact in the next decade, we must move beyond “soft for soft’s sake” and ensure that each study makes a meaningful contribution to the field and, ideally, to robotics and engineering more broadly. We present a three-tiered categorization to help researchers and reviewers evaluate work and guide studies toward higher levels of contribution. We ground this categorization with historical examples of soft solutions outside of robotics that were transformative. We believe that the proposed self-reflection is essential if soft robotics is to be an impactful field in the next decade, advancing robotics and engineering both within and beyond academia and creating soft solutions that are quantitatively superior to the current state of the art—soft, rigid, or otherwise.
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Fitzgerald, Seth G., Gary W. Delaney, and David Howard. "A Review of Jamming Actuation in Soft Robotics." Actuators 9, no. 4 (October 15, 2020): 104. http://dx.doi.org/10.3390/act9040104.

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Jamming is a popular and versatile soft robotic mechanism, enabling new systems to be developed that can achieve high stiffness variation with minimal volume variation. Numerous applications have been reported, including deep-sea sampling, industrial gripping, and use as paws for legged locomotion. This review explores the state-of-the-art for the three classes of jamming actuator: granular, layer and fibre jamming. We highlight the strengths and weaknesses of these soft robotic systems and propose opportunities for further development. We describe a number of trends, promising avenues for innovative research, and several technology gaps that could push the field forwards if addressed, including the lack of standardization for evaluating the performance of jamming systems. We conclude with perspectives for future studies in soft jamming robotics research, particularly elucidating how emerging technologies, including multi-material 3D printing, can enable the design and creation of increasingly diverse and high-performance soft robotic mechanisms for a myriad of new application areas.
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11

Runciman, Mark, Ara Darzi, and George P. Mylonas. "Soft Robotics in Minimally Invasive Surgery." Soft Robotics 6, no. 4 (August 2019): 423–43. http://dx.doi.org/10.1089/soro.2018.0136.

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12

Zhao, Wenchuan, Yu Zhang, and Ning Wang. "Soft Robotics: Research, Challenges, and Prospects." Journal of Robotics and Mechatronics 33, no. 1 (February 20, 2021): 45–68. http://dx.doi.org/10.20965/jrm.2021.p0045.

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The soft robot is a kind of continuum robot, which is mainly made of soft elastic material or malleable material. It can be continuously deformed in a limited space, and can obtain energy in large bending or high curvature distortion. It has obvious advantages such as high security of human-computer interaction, strong adaptability of unstructured environment, high driving efficiency, low maintenance cost, etc. It has wide application prospects in the fields of industrial production, defense military, medical rehabilitation, exploration, and so on. From the perspective of the bionic mechanism, this paper introduces the soft robots corresponding to insect crawling, snake crawling, fish swimming, elephant trunk, arm, etc. According to different driving modes, the soft robots can be classified into pneumatic-hydraulic driven, intelligent material driven, chemical reaction driven, and so on. The mechanical modeling, control strategy, material, and manufacturing methods of soft robot are summarized, and the application fields of soft robot are introduced. This paper analyzes the main challenges faced by the research on the key technologies of soft robots, summarizes and analyzes them, and puts forward the prospects for the future research of soft robots. The development trend of the future is to develop the soft robot with the characteristics of micro-scale, rigid-flexible coupling, variable stiffness, multi-functional, high integration, and intelligence of driving sensor control.
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13

Garrad, Martin, Hsing-Yu Chen, Andrew T. Conn, Helmut Hauser, and Jonathan Rossiter. "Liquid Metal Logic for Soft Robotics." IEEE Robotics and Automation Letters 6, no. 2 (April 2021): 4095–102. http://dx.doi.org/10.1109/lra.2021.3068118.

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14

Trimmer, Barry, Bram Vanderborght, Yiğit Mengüç, Michael Tolley, and Joshua Schultz. "Soft Robotics as an Emerging Academic Field." Soft Robotics 2, no. 4 (December 2015): 131–34. http://dx.doi.org/10.1089/soro.2015.29004.bat.

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15

Trimmer, Barry. "Humanoids and the Emergence of Soft Robotics." Soft Robotics 2, no. 4 (December 2015): 129–30. http://dx.doi.org/10.1089/soro.2015.29005.bat.

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16

Galloway, Kevin C., Yue Chen, Emily Templeton, Brian Rife, Isuru S. Godage, and Eric J. Barth. "Fiber Optic Shape Sensing for Soft Robotics." Soft Robotics 6, no. 5 (October 1, 2019): 671–84. http://dx.doi.org/10.1089/soro.2018.0131.

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17

Trimmer, Barry. "A Journal of Soft Robotics: Why Now?" Soft Robotics 1, no. 1 (March 2014): 1–4. http://dx.doi.org/10.1089/soro.2013.0003.

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18

Taffoni, Fabrizio. "2021 IEEE RAS Seasonal School on Rehabilitation and Assistive Robotics Based on Soft Robotics [Education]." IEEE Robotics & Automation Magazine 28, no. 3 (September 2021): 187–90. http://dx.doi.org/10.1109/mra.2021.3096258.

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19

Saigo, Hayato, Makoto Naruse, Kazuya Okamura, Hirokazu Hori, and Izumi Ojima. "Analysis of Soft Robotics Based on the Concept of Category of Mobility." Complexity 2019 (March 25, 2019): 1–12. http://dx.doi.org/10.1155/2019/1490541.

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Soft robotics is an emerging field of research where the robot body is composed of flexible and soft materials. It allows the body to bend, twist, and deform to move or to adapt its shape to the environment for grasping, all of which are difficult for traditional hard robots with rigid bodies. However, the theoretical basis and design principles for soft robotics are not well-founded despite their recognized importance. For example, the control of soft robots is outsourced to morphological attributes and natural processes; thus, the coupled relations between a robot and its environment are particularly crucial. In this paper, we propose a mathematical foundation for soft robotics based on category theory, a branch of abstract mathematics where any notions can be described by objects and arrows. It allows for a rigorous description of the inherent characteristics of soft robots and their relation to the environment as well as the differences compared to conventional hard robots. We present a notion called the category of mobility to well describe the subject matter. The theory has been applied to a model system and analysis to highlight the adaptation behavior observed in universal grippers, which are a typical example of soft robotics. The aim of the present study is not to offer concrete engineering solutions to existing robotics but to provide clear mathematical description of soft robots by category theory and to imply its potential abilities by a simple soft gripper demonstration. This paper paves the way to developing a theoretical background and design principles for soft robotics.
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Le, Tien Sy, Holger Schlegel, Welf Guntram Drossel, and Andreas Hirsch. "Antagonistic Shape Memory Alloy Actuators in Soft Robotics." Solid State Phenomena 251 (July 2016): 126–32. http://dx.doi.org/10.4028/www.scientific.net/ssp.251.126.

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The paper presents research concerning the utilization of shape memory alloys in terms of an antagonistic actuator system. The main focus is to determine arrangements for the necessary movements and also to evaluate a suitable control methodology. Most use cases of soft robotics can be accomplished by either linear actuators (cf. earthworm), circular actuators (cf. brachial joint) or a combination of both. Hence, for the research, those two scenarios were taken into account. The paper describes the used simulation model, which bases on a thermo-mechanical submodel of a single SMA actuator. It complements interconnections of physical parameters like temperature, percentage of martensite, elongation and tension. Furthermore, it is shown, how the submodels are connected in a suitable way to establish the required use cases.The position control of either the transversal position or the angle is realized by a PID or PI controller. The paper also shows the impact of parameter changes in the SMA on the achievable position accuracy. Also different strategies for controller design will be discussed.
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Schultz, Joshua, Yiğit Mengüç, Michael Tolley, and Bram Vanderborght. "What Is the Path Ahead for Soft Robotics?" Soft Robotics 3, no. 4 (December 2016): 159–60. http://dx.doi.org/10.1089/soro.2016.29010.jsc.

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Kim, Daekyum, Sang-Hun Kim, Taekyoung Kim, Brian Byunghyun Kang, Minhyuk Lee, Wookeun Park, Subyeong Ku, et al. "Review of machine learning methods in soft robotics." PLOS ONE 16, no. 2 (February 18, 2021): e0246102. http://dx.doi.org/10.1371/journal.pone.0246102.

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Soft robots have been extensively researched due to their flexible, deformable, and adaptive characteristics. However, compared to rigid robots, soft robots have issues in modeling, calibration, and control in that the innate characteristics of the soft materials can cause complex behaviors due to non-linearity and hysteresis. To overcome these limitations, recent studies have applied various approaches based on machine learning. This paper presents existing machine learning techniques in the soft robotic fields and categorizes the implementation of machine learning approaches in different soft robotic applications, which include soft sensors, soft actuators, and applications such as soft wearable robots. An analysis of the trends of different machine learning approaches with respect to different types of soft robot applications is presented; in addition to the current limitations in the research field, followed by a summary of the existing machine learning methods for soft robots.
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LENG, JinSong, Jian SUN, QingHua GUAN, and YanJu LIU. "Status of and trends in soft pneumatic robotics." SCIENTIA SINICA Technologica 50, no. 7 (July 1, 2020): 897–934. http://dx.doi.org/10.1360/sst-2020-0143.

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24

Xu, Fan, and Hesheng Wang. "Soft Robotics: Morphology and Morphology-inspired Motion Strategy." IEEE/CAA Journal of Automatica Sinica 8, no. 9 (September 2021): 1500–1522. http://dx.doi.org/10.1109/jas.2021.1004105.

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Wang, Tao, Jinhua Zhang, Yue Li, Jun Hong, and Michael Yu Wang. "Electrostatic Layer Jamming Variable Stiffness for Soft Robotics." IEEE/ASME Transactions on Mechatronics 24, no. 2 (April 2019): 424–33. http://dx.doi.org/10.1109/tmech.2019.2893480.

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26

Ijspeert, Auke J. "Amphibious and Sprawling Locomotion: From Biology to Robotics and Back." Annual Review of Control, Robotics, and Autonomous Systems 3, no. 1 (May 3, 2020): 173–93. http://dx.doi.org/10.1146/annurev-control-091919-095731.

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A milestone in vertebrate evolution, the transition from water to land, owes its success to the development of a sprawling body plan that enabled an amphibious lifestyle. The body, originally adapted for swimming, evolved to benefit from limbs that enhanced its locomotion capabilities on submerged and dry ground. The first terrestrial animals used sprawling locomotion, a type of legged locomotion in which limbs extend laterally from the body (as opposed to erect locomotion, in which limbs extend vertically below the body). This type of locomotion—exhibited, for instance, by salamanders, lizards, and crocodiles—has been studied in a variety of fields, including neuroscience, biomechanics, evolution, and paleontology. Robotics can benefit from these studies to design amphibious robots capable of swimming and walking, with interesting applications in field robotics, in particular for search and rescue, inspection, and environmental monitoring. In return, robotics can provide useful scientific tools to test hypotheses in neuroscience, biomechanics, and paleontology. For instance, robots have been used to test hypotheses about the organization of neural circuits that can switch between swimming and walking under the control of simple modulation signals, as well as to identify the most likely gaits of extinct sprawling animals. Here, I review different aspects of amphibious and sprawling locomotion, namely gait characteristics, neurobiology, numerical models, and sprawling robots, and discuss fruitful interactions between robotics and other scientific fields.
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Ho, Van Anh, Hongbin Liu, Liyu Wang, Fumiya Iida, and Shinichi Hirai. "Special issue on ‘Morphological computation in soft robotics’." Advanced Robotics 32, no. 7 (April 3, 2018): 339. http://dx.doi.org/10.1080/01691864.2018.1454287.

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28

Yoshida, Kazuya. "Soft Robotics. Dynamics and Control for a Flexible Base Robot." Journal of the Robotics Society of Japan 17, no. 6 (1999): 786–89. http://dx.doi.org/10.7210/jrsj.17.786.

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29

Pal, Aniket, Vanessa Restrepo, Debkalpa Goswami, and Ramses V. Martinez. "Exploiting Mechanical Instabilities in Soft Robotics: Control, Sensing, and Actuation." Advanced Materials 33, no. 19 (March 31, 2021): 2006939. http://dx.doi.org/10.1002/adma.202006939.

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Bartlett, Nicholas W., Kaitlyn P. Becker, and Robert J. Wood. "A fluidic demultiplexer for controlling large arrays of soft actuators." Soft Matter 16, no. 25 (2020): 5871–77. http://dx.doi.org/10.1039/c9sm02502b.

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31

Xu, Zhenyu, Yongsen Zhou, Baoping Zhang, Chao Zhang, Jianfeng Wang, and Zuankai Wang. "Recent Progress on Plant-Inspired Soft Robotics with Hydrogel Building Blocks: Fabrication, Actuation and Application." Micromachines 12, no. 6 (May 24, 2021): 608. http://dx.doi.org/10.3390/mi12060608.

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Millions of years’ evolution has imparted life on earth with excellent environment adaptability. Of particular interest to scientists are some plants capable of macroscopically and reversibly altering their morphological and mechanical properties in response to external stimuli from the surrounding environment. These intriguing natural phenomena and underlying actuation mechanisms have provided important design guidance and principles for man-made soft robotic systems. Constructing bio-inspired soft robotic systems with effective actuation requires the efficient supply of mechanical energy generated from external inputs, such as temperature, light, and electricity. By combining bio-inspired designs with stimuli-responsive materials, various intelligent soft robotic systems that demonstrate promising and exciting results have been developed. As one of the building materials for soft robotics, hydrogels are gaining increasing attention owing to their advantageous properties, such as ultra-tunable modulus, high compliance, varying stimuli-responsiveness, good biocompatibility, and high transparency. In this review article, we summarize the recent progress on plant-inspired soft robotics assembled by stimuli-responsive hydrogels with a particular focus on their actuation mechanisms, fabrication, and application. Meanwhile, some critical challenges and problems associated with current hydrogel-based soft robotics are briefly introduced, and possible solutions are proposed. We expect that this review would provide elementary tutorial guidelines to audiences who are interested in the study on nature-inspired soft robotics, especially hydrogel-based intelligent soft robotic systems.
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Bao, Guanjun, Hui Fang, Lingfeng Chen, Yuehua Wan, Fang Xu, Qinghua Yang, and Libin Zhang. "Soft Robotics: Academic Insights and Perspectives Through Bibliometric Analysis." Soft Robotics 5, no. 3 (June 2018): 229–41. http://dx.doi.org/10.1089/soro.2017.0135.

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Zhu, Mengjia, Thanh Nho Do, Elliot Hawkes, and Yon Visell. "Fluidic Fabric Muscle Sheets for Wearable and Soft Robotics." Soft Robotics 7, no. 2 (April 1, 2020): 179–97. http://dx.doi.org/10.1089/soro.2019.0033.

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Kovač, Mirko. "The Bioinspiration Design Paradigm: A Perspective for Soft Robotics." Soft Robotics 1, no. 1 (March 2014): 28–37. http://dx.doi.org/10.1089/soro.2013.0004.

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Walker, James, Thomas Zidek, Cory Harbel, Sanghyun Yoon, F. Sterling Strickland, Srinivas Kumar, and Minchul Shin. "Soft Robotics: A Review of Recent Developments of Pneumatic Soft Actuators." Actuators 9, no. 1 (January 10, 2020): 3. http://dx.doi.org/10.3390/act9010003.

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This paper focuses on the recent development of soft pneumatic actuators for soft robotics over the past few years, concentrating on the following four categories: control systems, material and construction, modeling, and sensors. This review work seeks to provide an accelerated entrance to new researchers in the field to encourage research and innovation. Advances in methods to accurately model soft robotic actuators have been researched, optimizing and making numerous soft robotic designs applicable to medical, manufacturing, and electronics applications. Multi-material 3D printed and fiber optic soft pneumatic actuators have been developed, which will allow for more accurate positioning and tactile feedback for soft robotic systems. Also, a variety of research teams have made improvements to soft robot control systems to utilize soft pneumatic actuators to allow for operations to move more effectively. This review work provides an accessible repository of recent information and comparisons between similar works. Future issues facing soft robotic actuators include portable and flexible power supplies, circuit boards, and drive components.
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Pransky, Joanne. "The Pransky interview: Dr Martin Buehler, Executive R & D Imagineer at Walt Disney Imagineering and renowned expert in advanced robotics." Industrial Robot: An International Journal 42, no. 6 (October 19, 2015): 497–501. http://dx.doi.org/10.1108/ir-08-2015-0153.

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Purpose – The following article is a “Q & A interview” conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry engineer-turned successful business leader, regarding the commercialization and challenges of bringing technological inventions to market while overseeing a company. The paper aims to discuss these issues. Design/methodology/approach – The interviewee is Dr Martin Buehler, Executive R & D Imagineer, at Walt Disney Imagineering. Dr Buehler is a global expert in robot manipulation and mobile robots and has led the innovative R & D and product development for some of the world’s top robot organizations. In this interview, Dr Buehler shares some of his personal and business experiences of his 25-year journey. Findings – Dr Buehler studied electrical engineering at the University of Karlsruhe and received the MSc and PhD degrees in electrical engineering from Yale University, and after a PostDoc at MIT’s Leglab in locomotion, he became a professor at McGill University in 1991, with tenure since 1997. His research focused on dynamic grasping, direct drive motor control and legged robots. From 2003 to 2008, Dr Buehler was Director of Robotics at Boston Dynamics, and he was Director of Research at iRobot Corporation from 2008 to 2011. He served as VP and General Manager of Hospital Robots for Vecna Technologies from 2011 to 2013 and Senior Director of R & D and Director, R & D Center Munich for Covidien from 2013-2015. Originality/value – Dr Buehler is best known in the academic world for his expertise in “intermittent dynamical” robotic tasks, such as dynamic manipulation and dynamically stable legged locomotion. His research led to multiple breakthroughs in legged robot projects like BigDog and RHex. In the corporate world, Buehler’s passion is to translate robotics technologies into successful product solutions. He does this by the implementation of key management strategies including Scrum and rapid and systematic experimental iteration. In addition to holding several patents, Dr Buehler is an Advisory Editorial Board member for the International Journal of Robotics Research and formerly served for ten years as the Associate Editor for the Journal of Field Robotics. Dr Buehler is a bestowed IEEE Fellow and was the recipient of the prestigious Robotics Industry Association’s 2012 Engelberger Award for Technology.
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37

Mochiyama, Hiromi. "The Elastic Rod Approach toward System Theory for Soft Robotics." IFAC-PapersOnLine 53, no. 2 (2020): 9175–80. http://dx.doi.org/10.1016/j.ifacol.2020.12.2169.

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Tsubouchi, Takashi, and Keiji Nagatani. "Special Issue on Modern Trends in Mobile Robotics." Journal of Robotics and Mechatronics 14, no. 4 (August 20, 2002): 323. http://dx.doi.org/10.20965/jrm.2002.p0323.

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Since the dawning of the Robotics age, mobile robots have been important objectives of research and development. Working from such aspects as locomotion mechanisms, path and motion planning algorithms, navigation, map building and localization, and system architecture, researchers are working long and hard. Despite the fact that mobile robotics has a shorter history than conventional mechanical engineering, it has already accumulated a major, innovative, and rich body of R&D work. Rapid progress in modern scientific technology had advanced to where down-sized low-cost electronic devices, especially highperformance computers, can now be built into such mobile robots. Recent trends in ever higher performance and increased downsizing have enabled those working in the field of mobile robotics to make their models increasingly intelligent, versatile, and dexterous. The down-sized computer systems implemented in mobile robots must provide high-speed calculation for complicated motion planning, real-time image processing in image recognition, and sufficient memory for storing the huge amounts of data required for environment mapping. Given the swift progress in electronic devices, new trends are now emerging in mobile robotics. This special issue on ""Modern Trends in Mobile Robotics"" provides a diverse collection of distinguished papers on modern mobile robotics research. In the area of locomotion mechanisms, Huang et al. provide an informative paper on control of a 6-legged walking robot and Fujiwara et al. contribute progressive work on the development of a practical omnidirectional cart. Given the importance of vision systems enabling robots to survey their environments, Doi et al., Tang et al., and Shimizu present papers on cutting-edge vision-based navigation. On the crucial subject of how to equip robots with intelligence, Hashimoto et al. present the latest on sensor fault detection in dead-reckoning, Miura et al. detail the probabilistic modeling of obstacle motion during mobile robot navigation, Hada et al. treat long-term mobile robot activity, and Lee et al. explore mobile robot control in intelligent space. As guest editors, we are sure readers will find these articles both informative and interesting concerning current issues and new perspectives in modern trends in mobile robotics.
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Ott, Christian, Alexander Dietrich, Daniel Leidner, Alexander Werner, Johannes Englsberger, Bernd Henze, Sebastian Wolf, et al. "From Torque-Controlled to Intrinsically Compliant Humanoid Robots." Mechanical Engineering 137, no. 06 (June 1, 2015): S7—S11. http://dx.doi.org/10.1115/1.2015-jun-5.

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This paper gives an overview of the advancements in humanoid robotics at the German Aerospace Center (DLR) over the last 10 years. The development started with focus on dexterous, bimanual manipulation with the wheel-based humanoid Rollin’ Justin and continued with legged locomotion on TORO. With Rollin’ Justin, the team aims to create a cognitive robotic system that can reason about compliant manipulation tasks, based on intelligent decisions according to the actual state of the environment. These humanoids are expected to can perform a multitude of complex tasks and hereby contributing to human welfare. Possible fields of use include service robotics, industrial co-workers, search and rescue, space applications, medical robotics, etc. The experts suggest that teleoperated scenarios are feasible in short term, developing in long term towards shared or even full autonomy. Still, advancements must be made in almost all areas, starting from mechatronic robustness, reliability and energy efficiency, over multimodal perception and control up to autonomous planning and Artificial Intelligence-based reasoning. Development of interaction interfaces and communication modalities to humans will play an increasingly key role in the future.
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Copaci, Dorin-Sabin, Dolores Blanco, Alejandro Martin-Clemente, and Luis Moreno. "Flexible shape memory alloy actuators for soft robotics: Modelling and control." International Journal of Advanced Robotic Systems 17, no. 1 (January 1, 2020): 172988141988674. http://dx.doi.org/10.1177/1729881419886747.

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One of the limitations in the development of really soft robotic devices is the development of soft actuators. In recent years, our research group has developed a new flexible shape memory alloy actuator that provides more freedom of movements and a better integration in wearable robots, especially in soft wearable robots. Shape memory alloy wires present characteristics such as force/weight ratio, low weight, and noiseless actuation, which make them an ideal choice in these types of applications. However, the control strategy must take into account its complex dynamics due to thermal phase transformation. Different control approaches based on complex non-linear models and other model-free control methods have been tested on real systems. Some exoskeleton prototypes have been developed, which demonstrate the utility of this actuator and the advantages offered by these flexible actuators to improve the comfort and adaptability of exoskeletons.
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Brancadoro, Margherita, Mariangela Manti, Selene Tognarelli, and Matteo Cianchetti. "Fiber Jamming Transition as a Stiffening Mechanism for Soft Robotics." Soft Robotics 7, no. 6 (December 1, 2020): 663–74. http://dx.doi.org/10.1089/soro.2019.0034.

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Lu, Nanshu, and Dae-Hyeong Kim. "Flexible and Stretchable Electronics Paving the Way for Soft Robotics." Soft Robotics 1, no. 1 (March 2014): 53–62. http://dx.doi.org/10.1089/soro.2013.0005.

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43

Le, Tien Sy, Holger Schlegel, Welf Guntram Drossel, and Andreas Hirsch. "Fault Detection and Fault-Tolerant Control when Using SMA Actuators in Soft Robotics." Solid State Phenomena 260 (July 2017): 92–98. http://dx.doi.org/10.4028/www.scientific.net/ssp.260.92.

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Nowadays, smart materials, such as Shape Memory Alloys (SMA) are examined as actuators for flexible, adapting shapes and structures of soft robotics. However, several limitations such as long response times, the possibility of unintended actuation as well as structural fatigue are still present and obstructive for their utilization. For applying these actuators in field of robotics, this results in a reduction of reliability (e.g. position accuracy as well as repeatability) and safety of the overall system. To encounter this, the paper presents a method for automatic fault detection for SMA. Also an approach of fault-tolerant control will be discussed. The methods aims to ensure the operability of the overall system, comprising multiple SMA actuators even in case of significantly changed system parameters or failure of single actuators.
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Navas, Eduardo, Roemi Fernández, Delia Sepúlveda, Manuel Armada, and Pablo Gonzalez-de-Santos. "Soft Grippers for Automatic Crop Harvesting: A Review." Sensors 21, no. 8 (April 11, 2021): 2689. http://dx.doi.org/10.3390/s21082689.

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Agriculture 4.0 is transforming farming livelihoods thanks to the development and adoption of technologies such as artificial intelligence, the Internet of Things and robotics, traditionally used in other productive sectors. Soft robotics and soft grippers in particular are promising approaches to lead to new solutions in this field due to the need to meet hygiene and manipulation requirements in unstructured environments and in operation with delicate products. This review aims to provide an in-depth look at soft end-effectors for agricultural applications, with a special emphasis on robotic harvesting. To that end, the current state of automatic picking tasks for several crops is analysed, identifying which of them lack automatic solutions, and which methods are commonly used based on the botanical characteristics of the fruits. The latest advances in the design and implementation of soft grippers are also presented and discussed, studying the properties of their materials, their manufacturing processes, the gripping technologies and the proposed control methods. Finally, the challenges that have to be overcome to boost its definitive implementation in the real world are highlighted. Therefore, this review intends to serve as a guide for those researchers working in the field of soft robotics for Agriculture 4.0, and more specifically, in the design of soft grippers for fruit harvesting robots.
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Spielberg, Andrew, Alexander Amini, Lillian Chin, Wojciech Matusik, and Daniela Rus. "Co-Learning of Task and Sensor Placement for Soft Robotics." IEEE Robotics and Automation Letters 6, no. 2 (April 2021): 1208–15. http://dx.doi.org/10.1109/lra.2021.3056369.

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46

Aguzzi, Jacopo, Corrado Costa, Marcello Calisti, Valerio Funari, Sergio Stefanni, Roberto Danovaro, Helena Gomes, et al. "Research Trends and Future Perspectives in Marine Biomimicking Robotics." Sensors 21, no. 11 (May 29, 2021): 3778. http://dx.doi.org/10.3390/s21113778.

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Mechatronic and soft robotics are taking inspiration from the animal kingdom to create new high-performance robots. Here, we focused on marine biomimetic research and used innovative bibliographic statistics tools, to highlight established and emerging knowledge domains. A total of 6980 scientific publications retrieved from the Scopus database (1950–2020), evidencing a sharp research increase in 2003–2004. Clustering analysis of countries collaborations showed two major Asian-North America and European clusters. Three significant areas appeared: (i) energy provision, whose advancement mainly relies on microbial fuel cells, (ii) biomaterials for not yet fully operational soft-robotic solutions; and finally (iii), design and control, chiefly oriented to locomotor designs. In this scenario, marine biomimicking robotics still lacks solutions for the long-lasting energy provision, which presently hinders operation autonomy. In the research environment, identifying natural processes by which living organisms obtain energy is thus urgent to sustain energy-demanding tasks while, at the same time, the natural designs must increasingly inform to optimize energy consumption.
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Rizzello, Gianluca, Pietro Serafino, David Naso, and Stefan Seelecke. "Towards Sensorless Soft Robotics: Self-Sensing Stiffness Control of Dielectric Elastomer Actuators." IEEE Transactions on Robotics 36, no. 1 (February 2020): 174–88. http://dx.doi.org/10.1109/tro.2019.2944592.

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Calais, Théo, and Pablo Valdivia y Alvarado. "Advanced functional materials for soft robotics: tuning physicochemical properties beyond rigidity control." Multifunctional Materials 2, no. 4 (December 31, 2019): 042001. http://dx.doi.org/10.1088/2399-7532/ab4f9d.

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Soltani, Minou Kouh, Sohrab Khanmohammadi, Farzan Ghalichi, and Farrokh Janabi-Sharifi. "A soft robotics nonlinear hybrid position/force control for tendon driven catheters." International Journal of Control, Automation and Systems 15, no. 1 (January 19, 2017): 54–63. http://dx.doi.org/10.1007/s12555-016-0461-4.

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50

Elmoughni, Hend M., Ayse Feyza Yilmaz, Kadir Ozlem, Fidan Khalilbayli, Leonardo Cappello, Asli Tuncay Atalay, Gökhan Ince, and Ozgur Atalay. "Machine-Knitted Seamless Pneumatic Actuators for Soft Robotics: Design, Fabrication, and Characterization." Actuators 10, no. 5 (April 30, 2021): 94. http://dx.doi.org/10.3390/act10050094.

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Computerized machine knitting offers an attractive fabrication technology for incorporating wearable assistive devices into garments. In this work, we utilized, for the first time, whole-garment knitting techniques to manufacture a seamless fully knitted pneumatic bending actuator, which represents an advancement to existing cut-and-sew manufacturing techniques. Various machine knitting parameters were investigated to create anisotropic actuator structures, which exhibited a range of bending and extension motions when pressurized with air. The functionality of the actuator was demonstrated through integration into an assistive glove for hand grip action. The achieved curvature range when pressurizing the actuators up to 150 kPa was sufficient to grasp objects down to 3 cm in diameter and up to 125 g in weight. This manufacturing technique is rapid and scalable, paving the way for mass-production of customizable soft robotics wearables.
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