4 accepted papers
Soft robotic grippers offer advantages over rigid end effectors but are typically coupled to a rigid robot for locomotion. In contrast, this paper details a soft robot for both locomotion and grasping. The system is a type of boundaryconstrained granular swarm robot, which is composed of a closed-lo
Soft robots possess unique capabilities for adapting to the environment and interacting with it safely. However, their deformable nature also poses challenges for controlling their movement. In particular, the large deformations of a soft robot make it difficult to localize its individual body parts…
This paper describes Simultaneous Localization and Mapping (SLAM) techniques for mobile soft robots using on-board local sensors. The paper focuses on planar boundary-constrained swarms, which are comprised of identical modular sub-units, each flexibly connected to its neighbor. The sub-units themse…
In this letter, we introduce a new approach for soft robot shape formation and morphing using approximate distance fields. The method uses concepts from constructive solid geometry, R-functions, to construct an approximate distance function to the boundary of a domain in <inline-formula xmlns:mml="h