The robotics community has seen an exponential growth in the level of complexity theoretical tools presented for modeling soft devices. Different solutions have been to overcome difficulties related robots, often leveraging on other scientific disciplines, such as continuum mechanics, computational and computer graphics. These foundations are taken granted this leads intricate literature that, consequently, rarely subject a complete review. For first time, we present here structured overview...

We propose a novel variable-strain parametrization for soft manipulators, which discretizes the continuous Cosserat rod model onto finite set of strain basis functions. This approach generalizes recently proposed piecewise-constant method to case non-constant sections. As its predecessor, discrete is based on relative pose between consecutive cross-sections and provided in minimal matrix form (Lagrangian-like). The applied static equilibrium tendon and/or fluidic actuated manipulators. It...

Soft robotics has been a trending topic within the community for almost two decades. However, available tools modeling and analysis of soft robots are still limited. This paper introduces user-friendly MATLAB toolbox, Robot Simulator (SoRoSim), that integrates Geometric Variable Strain (GVS) model Cosserat rods to facilitate static dynamic soft, rigid, or hybrid robotic systems. We present brief overview design structure toolbox validate it by comparing its results with those published in...

An elastic rod is clamped at one end and has a dead load attached to the other (free) end. The then slowly rotated using clamp. When smaller than buckling value, describes continuous set of quasi-static forms its traces (smooth, convex simple) closed curve, which would be circle if were rigid. curve analytically determined through integration Euler’s elastica, so that for sufficiently small loads mechanical system behaves as an ‘elastica compass’. For higher buckling, elastica reaches...

The Fin-Ray principle, inspired by the physiology of fish rays, represents foundation a large number robotic devices. However, despite their popularity, there is not any <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">ad-hoc</i> theoretical model technique for analysis this family fingers. This lack main motivation presented work, which provides mathematical modeling, analysis, and prototyping closed-chain finger. In scenario, contribution...

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...

Prokaryotic flagellum is considered as the only known example of a biological "wheel," system capable converting action rotatory actuator into continuous propulsive force. For this reason, flagella are an interesting case study in soft robotics and they represent appealing source inspiration for design underwater robots. A great number flagellum-inspired devices exists, but these all characterized by size ranging micrometer scale mostly realized with rigid materials. Here, we present...

The inherent challenges of robotic underwater exploration, such as hydrodynamic effects, the complexity dynamic coupling, and necessity for sensitive interaction with marine life, call adoption soft approaches in exploration. To address this, we present a novel prototype, ZodiAq, drone inspired by prokaryotic bacterial flagella. ZodiAq's unique dodecahedral structure, equipped 12 flagella-like arms, ensures design redundancy compliance, ideal navigating complex terrains. prototype features...

The inverse kinematic control of soft robots appears as an open challenge that has been the subject a number letters presented in last decade. Some solutions have provided based on specific assumptions robot's shape or actuation mechanism. Other more generic approaches are characterized by significant computational cost low level accuracy for very high deformations. In effort to overcome some these limitations, here we present Geometrically-Exact (GE) kinematics controller, which can be...

A new family of soft underwater propellers has been recently presented. Mimicking the swimming strategy bacterial flagella, these modules passively adapt to surrounding fluid provide a propulsive thrust. In present paper we aim at further investigating behaviour this device and address optimization its design towards improved capabilities. This process is allowed by an accurate, yet simple, theoretical model which able precisely describe robot's behaviour. The optimal prototype fabricated,...

Abstract Underwater soft robotics is receiving growing popularity within the scientific community, thanks to its prospective capability of tackling challenges that are hard deal with using traditional rigid technologies, especially while interacting an unstructured environment. Recently, we proposed a multi-module underwater robotic system deformable propellers, inspired by bacteria morphology [1]. Here, same bio-inspired modular structure employed perform manipulation tasks, in order design...

Soft robotics has been a trending topic within the community for almost two decades. However, available tools modeling and analysis of soft robots are still limited. This paper introduces user-friendly MATLAB toolbox, Robot Simulator (SoRoSim), that integrates Geometric Variable Strain (GVS) model Cosserat rods to facilitate static dynamic soft, rigid, or hybrid robotic systems. We present brief overview design structure toolbox validate it by comparing its results with those published in...

Developing accurate hand gesture perception models is critical for various robotic applications, enabling effective communication between humans and machines directly impacting neurorobotics interactive robots. Recently, surface electromyography (sEMG) has been explored its rich informational context accessibility when combined with advanced machine learning approaches wearable systems. The literature presents numerous to boost performance while ensuring robustness neurorobots using sEMG,...

Flagellated micro-organism are regarded as excellent swimmers within their size scales. This, along with the simplicity of actuation and richness dynamics makes them a valuable source inspiration to design continuum, self-propelled underwater robots. Here we introduce soft, flagellum-inspired system which exploits compliance its own body passively attain range geometrical configurations from interaction surrounding fluid. The spontaneous formation stable helical waves length flagellum is...

The robotics community has seen an exponential growth in the level of complexity theoretical tools presented for modeling soft devices. Different solutions have been to overcome difficulties related robots, often leveraging on other scientific disciplines, such as continuum mechanics, computational mechanics and computer graphics. These foundations are taken granted this leads intricate literature that, consequently, rarely subject a complete review. For first time, we present here...