Roadmap on soft robotics: multifunctionality, adaptability and growth without borders

Autor: Barbara Mazzolai, Alessio Mondini, Emanuela Del Dottore, Laura Margheri, Federico Carpi, Koichi Suzumori, Matteo Cianchetti, Thomas Speck, Stoyan K Smoukov, Ingo Burgert, Tobias Keplinger, Gilberto De Freitas Siqueira, Felix Vanneste, Olivier Goury, Christian Duriez, Thrishantha Nanayakkara, Bram Vanderborght, Joost Brancart, Seppe Terryn, Steven I Rich, Ruiyuan Liu, Kenjiro Fukuda, Takao Someya, Marcello Calisti, Cecilia Laschi, Wenguang Sun, Gang Wang, Li Wen, Robert Baines, Sree Kalyan Patiballa, Rebecca Kramer-Bottiglio, Daniela Rus, Peer Fischer, Friedrich C Simmel, Andreas Lendlein

Publikováno v: Multifunctional Materials, 5 (3)
Multifunctional Materials
Mazzolai, B.; Mondini, A.; Del Dottore, E.; Margheri, L.; Carpi, F.; Suzumori, K.; Cianchetti, M.; Speck, T.; Smoukov, S.K.; Burgert, I.; Keplinger, T.; Siqueira, G.D.F.; Vanneste, F.; Goury, O.; Duriez, C.; Nanayakkara, T.; Vanderborght, B.; Brancart, J.; Terryn, S.; Rich, S.I.; Liu, R.; Fukuda, K.; Someya, T.; Calisti, M.; Laschi, C.; Sun, W.; Wang, G.; Wen, L.; Baines, R.; Patiballa, S.K.; Kramer-Bottiglio, R.; Rus, D.; Fischer, P.; Simmel, F.C.; Lendlein, A.: Roadmap on soft robotics: multifunctionality, adaptability and growth without borders. In: Multifunctional Materials. Vol. 5 (2022) 3, 032001. (DOI: /10.1088/2399-7532/ac4c95)

Soft robotics aims at creating systems with improved performance of movement and adaptability in unknown, challenging, environments and with higher level of safety during interactions with humans. This Roadmap on Soft Robotics covers selected aspects

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::a3fd900ea4cf29ae1d015b02ee933f51
https://hdl.handle.net/20.500.11850/569966

Anisotropic Soft Robots Based on 3D Printed Meso-Structured Materials: Design, Modeling by Homogenization and Simulation

Autor: Olivier Goury, Jonàs Martínez, Hervé Delingette, Christian Duriez, Sylvain Lefebvre, Felix Vanneste

Publikováno v: IEEE Robotics and Automation Letters
IEEE Robotics and Automation Letters, 2020, 5 (2), pp.2380-2386. ⟨10.1109/LRA.2020.2969926⟩
IEEE Robotics and Automation Letters, IEEE 2020, 5 (2), pp.2380-2386. ⟨10.1109/LRA.2020.2969926⟩

International audience; In this paper, we propose to use new 3D-printed meso-structured materials to build soft robots and we present a modeling pipeline for design assistance and control. These meta-materials can be programmed before printing to tar

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::cea9a63c42499aad02059ce665885f6a
https://doi.org/10.1109/lra.2020.2969926

Controllability pre-verification of silicone soft robots based on finite-element method

Autor: Alexandre Kruszewski, Christian Duriez, Maxime Thieffry, Olivier Goury, Gang Zheng

Publikováno v: ICRA 2019-International Conference on Robotics and Automation
ICRA 2019-International Conference on Robotics and Automation, May 2019, Montreal, Canada. pp.7395-7400, ⟨10.1109/ICRA.2019.8794370⟩
ICRA

International audience; 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 de

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::aa989c6c24932c6eefde657c8ccf5349
https://hal.archives-ouvertes.fr/hal-02403899/file/final.pdf

Modeling Novel Soft Mechanosensors based on Air-Flow Measurements

Autor: Thor Morales Bieze, Stefan Escaida Navarro, Gang Zheng, Olivier Goury, Christian Duriez

Publikováno v: IEEE Robotics and Automation Letters
IEEE Robotics and Automation Letters, 2019, 4 (4), pp.4338-4345. ⟨10.1109/LRA.2019.2932604⟩
IEEE Robotics and Automation Letters, IEEE 2019, 4 (4), pp.4338-4345. ⟨10.1109/LRA.2019.2932604⟩

International audience; In this paper, we introduce a new pneumatic mechanosensor dedicated to Soft Robotics and propose a generic method to reconstruct the magnitude of a contact-force acting on it. Changes in cavity volumes inside a soft silicon pa

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::75d37f7b2d19f4f0f60c3ac172543276
https://inria.hal.science/hal-02239080

Software toolkit for modeling, simulation and control of soft robots

Autor: Bruno Carrez, Christian Duriez, Maxime Thieffry, Thor Morales-Bieze, Zhongkai Zhang, Eulalie Coevoet, Damien Marchal, Olivier Goury, Frederick Largilliere, Mario Sanz-Lopez, Jeremie Dequidt

Publikováno v: Advanced Robotics
Advanced Robotics, 2017, 31, pp.1208-1224. ⟨10.1080/01691864.2017.1395362⟩
Advanced Robotics, Taylor & Francis, 2017, 31, pp.1208-1224. ⟨10.1080/01691864.2017.1395362⟩
HAL

International audience; The technological differences between traditional robotics and soft robotics have an impact on all of the modeling tools generally in use, including direct kinematics and inverse models, Jacobians, and dynamics. Due to the lac

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::68fb3e9f9576b84fd8185c0291d947ee
https://inria.hal.science/hal-01649355/document