With advances in the field of robotic manipulation, sensing and machine learning, chefs are expected to become prevalent our kitchens restaurants. Robotic envisioned replicate human skills order reduce burden cooking process. However, potential robots as a means enhance dining experience is unrecognised. This article introduces concept food quality optimization its challenges with an automated omelette system. The design control system that uses general kitchen tools presented first. Next,...

Abstract Agricultural tasks and environments range from harsh field conditions with semi-structured produce or animals, through to post-processing in food-processing environments. From farm fork, the development application of soft robotics offers a plethora potential uses. Robust yet compliant interactions between machines will enable new capabilities optimize existing processes. There is also an opportunity explore how modeling tools used can be applied improve our representation...

<title>Abstract</title> The human hand is often viewed as the pinnacle of dexterity. Yet, its asymmetric shape and unique thumb largely limit Artificial robotic hands have departed from anthropomorphic design. With two or three fingers distributed in a uniform manner, traditional industrial aimed at preserving symmetry, facilitating manipulation. They remain, however, extremely far dexterity, capable solely picking placing tasks, one object time. We present reversible that tackles this...

Abstract Robotic fruit harvesting requires dexterity to handle delicate crops and development relying upon field testing possible only during the season. Here we focus on raspberry crops, explore how research methodology of robots can be accelerated through soft robotic technologies. We propose demonstrate a physical twin environment: sensorized simulator plant with tunable properties, used train harvester in laboratory regardless The sensors allow for direct comparison human demonstrations,...

In the quest to develop large-area soft sensors, we can look nature for many examples. Spiderwebs show fascinating properties that seek understand and replicate in order large-area, soft, deformable sensing structures. Spiders’ webs are used not only capture prey, but also localize their prey through vibrations they feel legs. Inspired by spiderwebs, developed a tactile sensor localizing contact points vibration sensing. We hypothesize structure of web be leveraged amplify, filter, or...

Aquatic creatures exhibit remarkable adaptations of their body to efficiently interact with the surrounding fluid. The tight coupling between morphology, motion, and environment are highly complex but serves as a valuable example when creating biomimetic structures in soft robotic swimmers. We focus on use asymmetry aid thrust generation maneuverability. Designs asymmetric profiles explored so that we can morphology 'shape' generation. propose combining simple simulation automatic...

Although often regarded a childhood toy, the design of paper airplanes is subtly complex. The space and mapping from geometry to distance flown highly nonlinear probabilistic where single airplane exhibits multitude trajectory forms flight distances. This makes optimization understanding their behavior challenging for humans. By predicting behavior, there potential improve aerial vehicles that operate at low Reynolds numbers. developing robotic system can fabricate, test, analyze, model in...

The use of robotic systems for harvesting crops is a growing application domain in the agriculture sector. A key challenge to develop harvest soft fruits such as raspberries which require delicate handling they are easily damaged. Designing and optimizing setup by testing on real raspberry can be challenging due short natural period cost logistical challenges running experiments field. To solve this problem, we present sensorized physical twin used before deploying has capability measuring...

When developing or designing biomimetic robotic fingers with rigid and soft components integrated sensors, fabrication is often a bottle-neck when assembling casting processing techniques are used. This study introduces thermoplastic multi-material approach that allows the printing of incorporated sensing elements in single shot. Thermoplastics elastomers based materials have been selected to demonstrate circular process. To exhibit potential method, sensorized finger was fabricated using...

Abstract Robotic harvesting is challenging manipulation task as it requires dexterity and robustness to handle delicate crops that can show complex structure variable form. A compounding challenge the research development methodology currently relies upon extensive field testing, which inefficient also only happen during season. With an urgent need develop robotic solutions for avoid being left in fields unpicked, we explore how robots be accelerated by learning required interactions with...

When humans perform dynamic motions such as throwing, the passive properties stiffness and damping of their arm is known to contribute task performance. By developing a robot which enables different joints be set programmatically, its contribution throwing behaviours can determined. In addition enabling new capabilities in robots this also useful for understanding how may tasks. Utilizing permanent magnet synchronous motors (PMSM) integrating them back-drivable configurations we present...

The impressive capabilities of humans to robustly perform manipulation relies on compliant interactions, enabled through the structure and materials spatially distributed in our hands. We propose by mimicking this compliance an anthropomorphic robotic hand, open-loop robustness increases observe emergence human-like behaviours. To achieve this, we introduce ADAPT Hand equipped with tunable throughout skin, fingers, wrist. Through extensive automated pick-and-place tests, show grasping...

The development of food products that are safe whilst also nutritious and sustainable is a key challenge for the industry. However, evaluating safety food, in particular swallowing safety, fundamental to ensure perception, nutritional contributions. This becomes especially complex when ethical considerations preclude use human panels certain demographics like children, elderly, ill, or assessing disruptive technologies such as cultivated products. To address this challenge, we propose...

The extraction of tactile information from an environment depends on the action, sensor design, and itself. This makes identifying optimal action for a given task, i.e. classification, challenging typically requires extensive data-rich experiments. We propose utilizing Mutual Information (MI), rapid-to-evaluate content met-ric that considers shared between two random variables as means comparing "tactile images" dif-ferent action-sensor-environment pairings. this heuristic selecting actions...

This paper explores online stiffness modulation within a single tail stroke for swimming soft robots. Despite advances in stiffening mechanisms, little attention has been given to dynamically adjusting real-time, presenting challenge developing mechanisms with the requisite bandwidth match actuation. Achieving an optimal balance between thrust and efficiency robots remains elusive, addresses this by proposing novel mechanism independent control, leveraging fluid-driven patterned pouch....

To advance autonomous dexterous manipulation, we propose a hybrid control method that combines the relative advantages of fine-tuned Vision-Language-Action (VLA) model and diffusion models. The VLA provides language commanded high-level planning, which is highly generalizable, while handles low-level interactions offers precision robustness required for specific objects environments. By incorporating switching signal into training-data, enable event based transitions between these two models...

<title>Abstract</title> The impressive capabilities of humans to robustly perform manipulation relies on compliant interactions, enabled through the structure and materials spatially distributed in our hands. We propose by mimicking this compliance an anthropomorphic robotic hand, open-loop robustness increases observe emergence human-like behaviours. To achieve this, we introduce ADAPT Hand equipped with tunable throughout skin, fingers, wrist. Through extensive automated pick-and-place...

Abstract The morphology and structure plays a crucial role in shaping the behavior functionality of both biological robotic systems.In this work, we are inspired by morphogenesis, fundamental process which encompasses emergence organs organism morphology. It is driven internal environmental factors profoundly influences cellular during development. By studying environmental-driven properties that give rise to specific morphologies, investigate how control environment can be harnessed trigger...

Biology provides many examples of how body adaption can be used to achieve a change in functionality. The feather star, an underwater crinoid that uses arms locomote and feed, is one such system; it releases its distract prey vary maneuverability help escape predators. Using this as inspiration, we develop robotic system alter interaction with the environment by changing morphology. We propose robot actuate layers flexible feathers detach them at will. first optimize geometric control...

Humans have an incredible sense of self-preservation that is both instilled, and also learned through experience. One system which contributes to this the pain reflex minimizes damage involuntary actions serves as a means 'negative reinforcement' allow learning poor or decision. Equipping robots with parallel architecture could help prolong their useful life for continued safe actions. Focusing on specific mock-up scenario cubes 'stove' like setup, we investigate hardware approaches robotic...

Abstract Although often regarded a childhood toy, the design of paper airplanes is subtly complex. The space and mapping from geometry to distance flown highly nonlinear probabilistic where single airplane exhibits multitude trajectory forms flight distances. This makes optimization understanding their behavior challenging for humans. By predicting behavior, there potential improve aerial vehicles that operate at low Reynolds numbers. developing robotic system can fabricate, test, analyze,...

Abstract The role of embodied intelligence (EI) has the potential to overcome current limitations in fabrication, control, and resulting behavior create robust effective dexterous robotic manipulators. To develop hands that truly exploit EI, we must design by considering entire system: physical body, sensory systems, brain (the controller). However, lack clear approaches methods enable this system level for hands. We introduce an iterative approach co-design which seeks utilize simulation...