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Soft Robotics

Transferring Theory to Application

  • Conference proceedings
  • © 2015

Overview

Editors:
  1. Alexander Verl

    1. Fraunhofer IPA, Stuttgart, Germany

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  2. Alin Albu-Schäffer

    1. DLR Institute of Robotics and Mechatronics, Wessling, Germany

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  3. Oliver Brock

    1. TU Berlin, Berlin, Germany

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  4. Annika Raatz

    1. Leibniz University of Hannover, Garbsen, Germany

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  • Overview of current developments in the emerging field of Soft Robotics
  • A novel approach in robotics
  • Written by experts in the field
  • Includes supplementary material: sn.pub/extras

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Table of contents (24 papers)

  1. Front Matter

    Pages I-VIII
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  2. Outline

    1. Front Matter

      Pages 1-1
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    2. Introduction

      • Alexander Verl, Alin Albu-Schäffer, Oliver Brock, Annika Raatz
      Pages 3-4

    3. Abstracts

      • Welf-Guntram Drossel, Holger Schlegel, Michael Walther, Philipp Zimmermann, André Bucht
      Pages 5-16

  3. Sensors and Actuators

    1. Front Matter

      Pages 17-17
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    2. New Concepts for Distributed Actuators and Their Control

      • Welf-Guntram Drossel, Holger Schlegel, Michael Walther, Philipp Zimmermann, André Bucht
      Pages 19-32

    3. Artificial Muscles, Made of Dielectric Elastomer Actuators - A Promising Solution for Inherently Compliant Future Robots

      • In Seong Yoo, Sebastian Reitelshöfer, Maximilian Landgraf, Jörg Franke
      Pages 33-41

    4. Musculoskeletal Robots and Wearable Devices on the Basis of Cable-driven Actuators

      • Martin Haegele, Christophe Maufroy, Werner Kraus, Maik Siee, Jannis Breuninger
      Pages 42-53

    5. Capacitive Tactile Proximity Sensing: From Signal Processing to Applications in Manipulation and Safe Human-Robot Interaction

      • Stefan Escaida Navarro, Björn Hein, Heinz Wörn
      Pages 54-65

  4. Modeling, Simulation and Control

    1. Front Matter

      Pages 67-67
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    2. Perception of Deformable Objects and Compliant Manipulation for Service Robots

      • Jörg Stückler, Sven Behnke
      Pages 69-80

    3. Soft Robot Control with a Behaviour-Based Architecture

      • Christopher Armbrust, Lisa Kiekbusch, Thorsten Ropertz, Karsten Berns
      Pages 81-91

    4. Optimal Exploitation of Soft-Robot Dynamics

      • Sami Haddadin
      Pages 92-99

    5. Simulation Technology for Soft Robotics Applications

      • Jürgen Roßmann, Michael Schluse, Malte Rast, Eric Guiffo Kaigom, Torben Cichon, Michael Schluse
      Pages 100-119

    6. Concepts of Softness for Legged Locomotion and Their Assessment

      • Andre Seyfarth, Katayon Radkhah, Oskar von Stryk
      Pages 120-133

    7. Mechanics and Thermodynamics of Biological Muscle – A Simple Model Approach

      • Syn Schmitt, Daniel Haeufle
      Pages 134-144

  5. Materials, Design and Manufacturing

    1. Front Matter

      Pages 145-145
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    2. Nanostructured Materials for Soft Robotics – Sensors and Actuators

      • Raphael Addinall, Thomas Ackermann, Ivica Kolaric
      Pages 147-156

    3. Fibrous Materials and Textiles for Soft Robotics

      • M. Milwich, S.K. Selvarayan, G.T. Gresser
      Pages 157-172

    4. Opportunities and Challenges for the Design of Inherently Safe Robots

      • Annika Raatz, Sebastian Blankemeyer, Gundula Runge, Christopher Bruns, Gunnar Borchert
      Pages 173-183
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Keywords

About this book

The research areas as well as the knowledge gained for the practical use of robots are growing and expanding beyond manufacturing and industrial automation, making inroads in sectors such as health care and terrain sensing, as well as general assistive systems working in close interaction with humans. In a situation like this, it is necessary for future robot systems to become less stiff and more specialized by taking inspiration from the mechanical compliance and versatility found in natural materials and organisms.
At present, a new discipline is emerging in this area, called »Soft Robotics«. It particularly challenges the traditional thinking of engineers, as the confluence of technologies, ranging from new materials, sensors, actuators and production techniques to new design tools, will make it possible to create new systems whose structures are almost completely made of soft materials, which bring about entirely new functions and behaviors, similar in many ways to natural systems.
These Proceedings focus on four main topics:
• Soft Actuators and Control
• Soft Interactions
• Soft Robot Assistants: Potential and Challenges
• Human-centered »Soft Robotics«.

Editors and Affiliations

  • Fraunhofer IPA, Stuttgart, Germany

    Alexander Verl

  • DLR Institute of Robotics and Mechatronics, Wessling, Germany

    Alin Albu-Schäffer

  • TU Berlin, Berlin, Germany

    Oliver Brock

  • Leibniz University of Hannover, Garbsen, Germany

    Annika Raatz

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