Soft Continuum Robots
Design, fundamental modelling and control of soft continuum robots
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Robot Design, Fabrication and Characterisation
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The miniaturisation of soft robots with reinforced chambers and free working working channels is challenging. The following fabrication process allows miniaturised soft manipulators on the sub-centimetre scale (i.e., less than 10 mm). Details are in the RoboSoft paper
Fabrication process for miniaturised soft robots with reinforced chambers
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Robot Modelling
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Configuration-dependent compliance modelling and analysis: Read the IJRR paper:
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Robot Control
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Inverse kinematics control based on the Cosserat rod model, details are reported in the T-Mech Paper.