3 accepted papers
Soft robot is an emergent research field which has variant promising applications. However, the design of soft robots nowadays still follows the trial-and-error process, which is not at all efficient. This paper proposes to design soft robots by pre-checking controllability during the numerical desi…
In this paper, a method for dexterous manipulation of 3D soft objects for real-time deformation control is presented, relying on Finite Element modelling. The goal is to generate proper forces on the fingertips of an anthropomorphic device during in-hand manipulation to produce desired displacements…
In this work we propose a new method for online motion planning in the task-space for hydraulic actuated soft robots. Our solution relies on the interactive resolution of an inverse kinematics problem, that takes into account the properties (mass, stiffness) of the deformable material used to build…