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Publications

Soft Tensegrity Structures With Variable Stiffness and Shape Changing Ability

  • Carrillo Li, E.R.; Schorr, P.; Kaufhold, T.; Rordiguez Hernandez, J.A.; Zentner, L.; Zimmermann, K.; Böhm, V. (2019): Kinematic analysis of the rolling locomotion of mobile robots based on tensegrity structures with spatially curved compressed components, Proc. of the 15th Conference on Dynamical Systems - Theory and Applications (Applicable Solutions in Non-Linear Dynamical Systems), Łódź, Poland, pp. 335-344
  • Schorr, P.; Schale, F.; Otterbach, J.M.; Zentner, L.; Zimmermann, K.; Böhm, V. (2020): Investigation of a Multistable Tensegrity Robot applied as Tilting Locomotion System, Proc. of the 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, August 2020. pp. 2932-2938.
  • Schorr, P.; Carrillo Li, E.R.; Kaufhold, T.; Rordiguez Hernandez, J.A.; Zentner, L.; Zimmermann, K.; Böhm, V. (2020): Kinematic analysis of a rolling tensegrity structure with spatially curved members, Meccanica (2020), Springer, (online first publ.), doi.org/10.1007/s11012-020-01199-x
  • Chavez Vega, J.; Schorr, P.; Kaufhold, T.; Zentner, L.; Zimmermann, K.; Böhm, V. (2020): Influence of Elastomeric Tensioned Members on the Characteristics of Compliant Tensegrity Structures in Soft Robotic Applications, Proceedia Manufacturing, Elsevier, 2020 (accepted paper)

Project

Co-Design of Feedback Control and Soft Morphology for in-Hand Manipulation

  • Zöller, G.; Wall, V.; Brock, O. (2020): Active Acoustic Contact Sensing for Soft Pneumatic Actuators Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2020.

Project

Ultra-Soft Long Range Strain and Self-Powered Touch Sensors for Soft Robot Segments

  • Tamil Selvan Natarajan, Sebastian Finger, Jorge Lacayo-Pineda, Eshwaran Subramani Bhagavatheswaran, Shib Shankar Banerjee, Gert Heinrich, and Amit Das (2020): Robust Triboelectric Generators by All-In-One Commercial Rubbers, ACS Applied Electronic Materials, https://pubs.acs.org/doi/10.1021/acsaelm.0c00846
  • Kumar M, Sharma A, Hait S, Wießner S, Heinrich G, Arief I, Naskar K, Stöckelhuber KW, Das A. Effect of Prestrain on the Actuation Characteristics of Dielectric Elastomers. Polymers (Basel). 2020 Nov 16;12(11):2694. https://doi.org/10.3390/polym12112694

Project

Design, Modeling and Control of Modular Tendon-Driven Elastic Continuum Mechanisms

  • Eugster S.R., Harsch J. (2020) A Variational Formulation of Classical Nonlinear Beam Theories. In: Abali B., Giorgio I. (eds) Developments and Novel Approaches in Nonlinear Solid Body Mechanics. Advanced Structured Materials, vol 130. Springer, Cham. https://doi.org/10.1007/978-3-030-50460-1_9
  • Harsch J., Eugster S.R. (2020) Finite Element Analysis of Planar Nonlinear Classical Beam Theories. In: Abali B., Giorgio I. (eds) Developments and Novel Approaches in Nonlinear Solid Body Mechanics.Advanced Structured Materials, vol 130. Springer, Cham. https://doi.org/10.1007/978-3-030-50460-1_10
  • Monje, C.A.; Deutschmann, B; Ott, C. (2020): IMO Fractional Order Control of an Underactuated Continuum, International Journal of Advanced Robotic Systems, 2020.
  • Deutschmann, B.; Chalon, M.; Reinecke, J.; Maier, M.; Ott, C. (2019): Six DoF Pose Estimation for a Tendon-Driven Continuum Mechanism Without a Deformation Model, IEEE Robotics and Automation Letters (RA-L), Vol. 4, No. 4, pp. 3425 – 3432

Project

Insect Feet Inspired Concepts Soft Touch Grippers With Dynamically Adjustable Grip Strength

Pressure Tolerant Energy Converter for Deep Sea Applications

  • Stoeffler, C.; Kumar, S.; Müller, A. (2020): A Comparative Study on 2-DOF Variable Stiffness Mechanisms, Advances in Robot Kinematics (ARK)

Project

Development and Characterization of Soft Magnetic Materials With Anisotropy in the Mechanical Properties and Multi-Stimulated Compliance

Coherent Methodology for Modelling and Design of Soft Material Robots – The Soft Material Robotics Toolbox (SMaRT)

  • Wiese, M.; Rüstmann, K.; Raatz, A. (2019): Kinematic Modeling of a Soft Pneumatic Actuator Using Cubic Hermite Splines,  IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Macau, China

Project

Experimental Enriched Beam Model for Robust Simulation of Soft Material Robotic Systems

Enhanced Robotic Gripper Optimisation: Simulation utilising Machine-Learning

Dielectric Elastomers – Soft Material Actuator/Sensor Concepts for Soft Robotic Systems

  • G. Rizzello, G.; Serafino, P.; Naso, D.; Seelecke, S. (2020): Towards Sensorless Soft Robotics: Self-Sensing Stiffness Control of Dielectric Elastomer Actuators, in IEEE Transactions on Robotics, vol. 36, no. 1, pp. 174-188, doi: 10.1109/TRO.2019.2944592.
  • Nalbach, S.; Banda, R. M.; Croce, S.; Rizzello, G.; Naso, D.; Seelecke, S. (2020): Modeling and Design Optimization of a Rotational Soft Robotic System Driven by Double Cone Dielectric Elastomer Actuators. Front. Robot. AI 6:150. doi: 10.3389/frobt.2019.00150
  • Kunze, J.; Prechtl, J.; Bruch, D.; Nalbach, S.; Motzki, P.; Seelecke, S. ; Rizzello, G. (2020): Design and fabrication of silicone-based dielectric elastomer rolled actuators for soft robotic applications, Proc. SPIE 11375, Electroactive Polymer Actuators and Devices (EAPAD) XXII, 113752D (22 April 2020); https://doi.org/10.1117/12.2558444
  • Prechtl, J.; Kunze, J.; Nalbach, S.; Seelecke, S.; Rizzello, G. (2020): Soft robotic module actuated by silicone-based rolled dielectric elastomer actuators: modeling and simulation, Proc. SPIE 11375, Electroactive Polymer Actuators and Devices (EAPAD) XXII, 113752C (22 April 2020); https://doi.org/10.1117/12.2557736

Project

Design Methodology for Soft-Bodied Miniature Robot Locomotion

MEiTNER - Multifunctional Dielectric Elastomer Electronics for Next Generation Soft Robotics

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