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  1. Nature
    https://www.nature.com › articles

    Dynamic simulation of articulated soft robots - Nature

    • Soft robots are primarily composed of soft materials that can allow for mechanically robust maneuvers that are not typically possible with conventional rigid robotic systems. However, owing to the curr… See more

    Introduction

    Robots composed of soft and elastically deformable materials can be engineered to … See more

    Nature
    Results

    Numerical simulation
    In this section, we review the numerical framework that incorporates elasticity, contact with uneven surface, friction, and inelastic col… See more

    Nature
    Discussion

    We have introduced a numerical framework based on DER for examining the locomotion of limbed soft robots that is adapted from methods popular in the computer g… See more

    Nature
    Methods

    Fabrication of shape memory alloy actuators
    The fabrication process is similar to the one presented in refs. 42,46. We start the fabrication … See more

    Nature
    Acknowledgements

    W.H. and M.K.J. acknowledge support from the Henry Samueli School of Engineering and Applied Science, University of California, Los Angeles. X.H. and C.M. acknowled… See more

    Nature
    What is a soft robot?
    Soft robots are primarily composed of soft materials that can allow for mechanically robust maneuvers that are not typically possible with conventional rigid robotic systems. However, owing to the current limitations in simulation, design and control of soft robots often involve a painstaking trial.
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    Table of Contents
    Introduction
    Results
    Discussion
    Methods
    Acknowledgements
    What is a soft robot?
     
  1. Deformation is fundamental to the actuation of soft robots because it allows these structures to change shape in response to applied forces. This ability to deform enables soft robots to perform a wide range of tasks, from gentle manipulation of objects to complex locomotion.

    Deformation - (Soft Robotics) - Vocab, Definition, Explanations - …

    library.fiveable.me/key-terms/soft-robotics/deformation
    library.fiveable.me/key-terms/soft-robotics/deformation
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  2. People also ask
    How does a soft robot detect deformation?
    The sensing ability is based on a carbon nanotube-based mesh-like structure, which can accurately monitor deformation. The robot uses the anisotropic friction unit to move forward during crawling. The crawling gait of the inchworm-inspired soft robot is accurately detected through sensing and perception.

    Inchworm-Inspired Soft Robot With Controllable Locomotion Based on …

    ieeexplore.ieee.org
    Why are soft robots difficult to control?
    Due to their flexible and deformable nature, soft robots exhibit nonlinear, hysteretic, and viscoelastic behavior, making them inherently more difficult to model and control than rigid systems 43. To address these challenges, both model-based control and model-free control concepts have been introduced 11, 28.

    A fabrication strategy for millimeter-scale, self-sensing soft-rigid

    nature.com
    What is a soft robot?
    Soft robots are primarily composed of soft materials that can allow for mechanically robust maneuvers that are not typically possible with conventional rigid robotic systems. However, owing to the current limitations in simulation, design and control of soft robots often involve a painstaking trial.

    Dynamic simulation of articulated soft robots - Nature

    nature.com
    What is soft robotic actuation?
    Soft robots have distributed deformations over their soft components allowing for theoretically infinite degrees of freedom . Thus, where rigid robots utilize a motor for every joint, soft robotic actuation is integrated throughout the entirety of the structure.

    Bio-inspired soft robotics: Material selection, actuation, and design

    sciencedirect.com
    How many deformation sensors should a soft robot have?
    For example, for a soft robot with a single actuated degree of freedom (DoF) and no contacts with the surroundings, a single deformation sensor is sufficient for static modeling. In this case, even local strain information along the length of the robot is sufficient for full observability.

    Soft robot perception using embedded soft sensors and recurrent neural

    science.org
    What is a soft robot body?
    'Soft' refers to the body of the robot. Soft materials are the key enablers for creating soft robot bodies. Although Young's modulus is only defined for homogeneous, prismatic bars that are subject to axial loading and small deformations, it is nonetheless a useful measure of the rigidity of materials used in the fabrication of robotic systems 5.

    Design, fabrication and control of soft robots | Nature

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  3. Nature
    https://www.nature.com › articles

    Design, fabrication and control of soft robots | Nature

  4. Nature
    https://www.nature.com › articles

    A fabrication strategy for millimeter-scale, self-sensing soft-rigid ...

  5. IEEE Xplore
    https://ieeexplore.ieee.org › document

    Inchworm-Inspired Soft Robot With Controllable Locomotion …

  6. ScienceDirect
    https://www.sciencedirect.com › science › article › pii

    Soft robot fast simulation via reduced order extended position …

  8. Science | AAAS
    https://www.science.org › doi

    Soft optoelectronic sensory foams with proprioception …

    Nov 21, 2018 · In a step toward soft robot proprioception, and therefore better control, this paper presents an internally illuminated elastomer foam that has been trained to detect its own deformation through machine learning techniques.

  9. Science | AAAS
    https://www.science.org › doi

    Soft robot perception using embedded soft sensors …

    Jan 30, 2019 · However, the solid-state sensors traditionally used in robotics are unable to capture the high-dimensional deformations of soft systems. Embedded soft resistive sensors have the potential to address this challenge.

  10. IEEE Xplore
    https://ieeexplore.ieee.org › document

    Sensing and Reconstruction of 3-D Deformation on Pneumatic …

  11. ScienceDirect
    https://www.sciencedirect.com › science › article › pii

    Bio-inspired soft robotics: Material selection, actuation, and design

  12. Springer
    https://link.springer.com › article

    Modeling and Simulation of Dynamics in Soft Robotics: …

    Aug 19, 2023 · In this review, we briefly summarize the numerical methods commonly used for the nonlinear dynamic analysis of soft robotic systems. The underlying mechanical principles as well as the geometrical treatment tailored …

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