☆ 4.6 Article

Towards a Physics-Based Model for Steerable Eversion Growing Robots

IEEE ROBOTICS AND AUTOMATION LETTERS (2023)

Related references

Note: Only part of the references are listed.

Article Automation & Control Systems

FEM-based trajectory tracking control of a soft trunk robot

Ke Wu et al.

Summary: This paper proposes a trajectory tracking control strategy for a soft trunk robot based on Finite Element Method (FEM). Feasible trajectory is planned using a model-prediction-control (MPC)-based optimization problem in a FEM-based simulator. Linearization around the pre-designed trajectory is conducted to develop an associated controller. The feasibility of the proposed method is demonstrated through experimental validation.

ROBOTICS AND AUTONOMOUS SYSTEMS (2022)

Add to Collection

Proceedings Paper Automation & Control Systems

Soft Robot Optimal Control Via Reduced Order Finite Element Models

Sander Tonkens et al.

Summary: This study proposes a control method for soft robots based on finite element models that leverages model order reduction techniques to increase computational efficiency. The approach formulates a constrained optimal control problem based on a nonlinear reduced order finite element model and solves it using sequential convex programming.

2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021) (2021)

Add to Collection

Proceedings Paper Automation & Control Systems

A Dynamics Simulator or Soft Growing Robots

Rianna Jitosho et al.

Summary: This paper examines the dynamics simulator for vine robots, a type of soft growing robots, that is capable of capturing general behaviors and interactions with the environment in real time. The study successfully bridges the sim-to-real gap by developing methods for fitting model parameters based on video data, showing qualitative and quantitative agreement between simulated and real behaviors.

2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021) (2021)

Add to Collection

Article Robotics

MAMMOBOT: A Miniature Steerable Soft Growing Robot for Early Breast Cancer Detection

Pierre Berthet-Rayne et al.

Summary: MAMMOBOT is a millimetre-scale steerable soft growing robot designed for medical applications. It aims to access the breast through the nipple, navigate the mammary ducts, and detect precursors of invasive breast cancers. Developed using a novel manufacturing approach, MAMMOBOT maintains a hollow inner lumen for passing instruments and achieves steerability through a sub-millimetre tendon-driven catheter.

IEEE ROBOTICS AND AUTOMATION LETTERS (2021)

Add to Collection

Article Engineering, Biomedical

VINE Catheter for Endovascular Surgery

Mingyuan Li et al.

Summary: The VINE catheter is a soft, tip-extending robot that can safely pass through tight curvatures, increasing safety and decreasing the time and expertise required for complex endovascular surgery cases.

IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS (2021)

Add to Collection

Article Robotics

Passive Morphological Adaptation for Obstacle Avoidance in a Self-Growing Robot Produced by Additive Manufacturing

Ali Sadeghi et al.

SOFT ROBOTICS (2020)

Add to Collection

Article Computer Science, Software Engineering

Modelling the Soft Robot Kyma Based on Real-Time Finite Element Method

A. Martin-Barrio et al.

COMPUTER GRAPHICS FORUM (2020)

Add to Collection

Article Computer Science, Software Engineering

Incremental Potential Contact: Intersection- and Inversion-free, Large-Deformation Dynamics

Minchen Li et al.

ACM TRANSACTIONS ON GRAPHICS (2020)

Add to Collection

Article Automation & Control Systems

Vine Robots: Design, Teleoperation, and Deployment for Navigation and Exploration

Margaret M. Coad et al.

IEEE ROBOTICS & AUTOMATION MAGAZINE (2020)

Add to Collection

Proceedings Paper Automation & Control Systems

An obstacle-interaction planning method for navigation of actuated vine robots

M. Selvaggio et al.

2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) (2020)

Add to Collection

Review Robotics

Design, Modeling, Control, and Application of Everting Vine Robots

Laura H. Blumenschein et al.

FRONTIERS IN ROBOTICS AND AI (2020)

Add to Collection

Proceedings Paper Engineering, Electrical & Electronic

Toward Shape Optimization of Soft Robots

Thomas Morzadec et al.

2019 2ND IEEE INTERNATIONAL CONFERENCE ON SOFT ROBOTICS (ROBOSOFT 2019) (2019)

Add to Collection

Proceedings Paper Engineering, Electrical & Electronic

Soft robots locomotion and manipulation control using FEM simulation and quadratic programming

Eulalie Coevoet et al.

2019 2ND IEEE INTERNATIONAL CONFERENCE ON SOFT ROBOTICS (ROBOSOFT 2019) (2019)

Add to Collection

Proceedings Paper Computer Science, Artificial Intelligence

Characterizing Environmental Interactions for Soft Growing Robots

David A. Haggerty et al.

2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) (2019)

Add to Collection

Article Robotics

A soft robot that navigates its environment through growth

Elliot W. Hawkes et al.

SCIENCE ROBOTICS (2017)

Add to Collection

Proceedings Paper Automation & Control Systems

Soft Robot Modeling, Simulation and Control in Real-Time

Christian Duriez et al.

SOFT ROBOTICS: TRENDS, APPLICATIONS AND CHALLENGES (2017)

Add to Collection

Article Radiology, Nuclear Medicine & Medical Imaging

Impact of errors in recorded compressed breast thickness measurements on volumetric density classification using volpara v1.5.0 software

Gunvor Gipling Waade et al.

MEDICAL PHYSICS (2016)

Add to Collection

© Peeref 2019-2024. All rights reserved.