4 accepted papers
Non-rigidly foldable origamis are of great interest to build robotic components, as they are light, offer large deployability and can also be multistable. In this paper, we consider the Kresling tower, and propose an original way to actively modulate its kinetostatic properties. Actuated stiffening…
In this letter, the development of a method for the design of soft pneumatic actuators is described. The focus is given on the interest of using a deep learning model to explore the design space with a genetic algorithm. In particular, we propose to perform the automatic synthesis of the inner struc
Snake-like robots applications include surveillance and exploration of confined environments where human presence is incompatible. The attractiveness of this type of mechatronic structure is notably linked to the modular character and the hyper-redundancy of their architecture, which gives it both m
In this paper, we describe the use of calibration techniques to help improving prediction accuracy of models for soft actuators. A finite-difference model considering anisotropy of soft actuator flexible chamber is combined with experimental identification to assess actuator motion. Identifiability…