Proboscidean sensitive soft robot for versatile gripping

Risultati finali

Definition of functional materials for 2D and 3D sensing

The choices of functional materials for developing the tip and of the outer skin are explained in view of the utilization of the 3D printing methods are presented

Definition of functional materials for actuators

The choices of functional materials that will be used for developing for fabrication of durable integrated actuators are presented

Communication, dissemination and exploitation plan (CoDE plan) – first release

The first report of the COmmunication, Dissemination and Exploitation plan is released

Analysis of solutions for 2D and 3D multimodal sensing

The analysis of the State of the Art on planar and 3D structures for multimodal mechanical sensing is performed.

Project website and dissemination materials

Project website and dissemination materials are delivered

Full 3D high-resolution anatomical model with associated material properties

The final results on 3D high-resolution anatomical model with associated material properties are reported.

Development of multimodal sensing components

Sensing components, exploiting also 3D micro and nanostructures, able to detect multiple mechanical cues (i.e. pressure, tangential forces, air/fluid flow, etc) are designed, fabricated and tested.

Data Management Plan I (DMP)

The first Data Management Plan is released

Pubblicazioni

Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control

Autori: Francesco Piqué; Francesco Stella; Josie Hughes; Egidio Falotico; Cosimo Della Santina
Pubblicato in: Proceedings of IEEE Conference on Soft Robotics, 2023
Editore: IEEE
DOI: 10.1109/robosoft55895.2023.10122116

A bistable soft gripper with mechanically embedded sensing and actuation for fast grasping

Autori: Thuruthel T. G.; Haider Abidi S.; Cianchetti M.; Laschi C.; Falotico E.
Pubblicato in: Proceedings of the 29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020. (pp. pp. 1049-1054). IEEE (2020), 2020
Editore: IEEE
DOI: 10.1109/ro-man47096.2020.9223487

Open-loop Model-free Dynamic Control of a Soft Manipulator for Tracking Tasks

Autori: Andrea Centurelli, Alessandro Rizzo, Silvia Tolu, Egidio Falotico
Pubblicato in: 2021 20th International Conference on Advanced Robotics, ICAR 2021, 2021
Editore: IEEE
DOI: 10.1109/icar53236.2021.9659370

GRACE: GeometRy-based Actuators that Contract and Elongate

Autori: De Pascali, Corrado; Naselli, Giovanna Adele; Palagi, Stefano; Scharff, Rob Bernardus Nicolaas; Mazzolai, Barbara
Pubblicato in: 2022 I-RIM Conference, 2022, ISBN 9788894580532
Editore: Zenodo
DOI: 10.5281/zenodo.7531361

Policy Adaptation using an Online Regressing Network in a Soft Robotic Arm

Autori: Muhammad Sunny Nazeer; Diego Bianchi; Giulia Campinoti; Cecilia Laschi; Egidio Falotico
Pubblicato in: Proceedings of IEEE Conference on Soft Robotics, 2023
Editore: IEEE
DOI: 10.1109/robosoft55895.2023.10121927

A Learning-based Approach for Adaptive Closed-loop Control of a Soft Robotic Arm

Autori: Pique, Francesco; Kalidindi, Hari Teja; Menciassi, Arianna; Laschi, Cecilia; Falotico, Egidio
Pubblicato in: 202 I-RIM Conference, 2021
Editore: Zenodo
DOI: 10.5281/zenodo.4781427

Open-loop Control of a Soft Arm in Throwing Tasks

Autori: Diego Bianchi, Michele Antonelli, Cecilia Laschi, Egidio Falotico
Pubblicato in: Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO, 2022, ISBN 978-989-758-585-2
Editore: ScitePress
DOI: 10.5220/0011267100003271

Grasping of Li-ion Batteries via Additively Manufactured Soft Gripper and Collaborative Robot

Autori: Savas Dilibal, Emre Tugberk Gulnergiz, Niccolò Pagliarani, Enrico Donato, Francesco Iori, Elisa Setti, Egidio Falotico, Matteo Cianchett
Pubblicato in: 2022 International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA), 2022
Editore: IEEE
DOI: 10.1109/hora55278.2022.9799902

Whole-arm Grasping Strategy for Soft Arms to Capture Space Debris

Autori: Agabiti, Camilla; Ménager, Etienne; Falotico, Egidio
Pubblicato in: 2023 IEEE International Conference on Soft Robotics (RoboSoft), 2023
Editore: IEEE
DOI: 10.1109/robosoft55895.2023.10122076

3D-printed hierarchical arrangements of actuators mimicking biological muscular architectures

Autori: De Pascali, Corrado; Palagi, Stefano; Mazzolai, Barbara
Pubblicato in: Bioinspiration & Biomimetics, 2023, ISSN 1748-3190
Editore: IOP PUblishing
DOI: 10.1088/1748-3190/acd159

Mechanical Sensing in Embodied Agents

Autori: Preti, Matteo Lo; Thuruthel, Thomas George; Gilday, Kieran; Beccai, Lucia; Iida, Fumiya
Pubblicato in: IOP Conference Series: Materials Science and Engineering, 2021, ISSN 1757-899X
Editore: IOP Publishing
DOI: 10.1088/1757-899x/1261/1/012013

Soft DAgger: Sample-Efficient Imitation Learning for Control of Soft Robots

Autori: Muhammad Sunny Nazeer , Cecilia Laschi, Egidio Falotico
Pubblicato in: Sensors, 2023, ISSN 1424-8220
Editore: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s23198278

Sensing Deformation in Vacuum Driven Foam-Based Actuator via Inductive Method

Autori: Seonggun Joe, Hongbo Wang, Massimo Totaro, Lucia Beccai
Pubblicato in: Frontiers in Robotics and AI, Numero 22969144, 2021, ISSN 2296-9144
Editore: Frontiers
DOI: 10.3389/frobt.2021.742885

Elephants evolved strategies reducing the biomechanical complexity of their trunk.

Autori: Paule Dagenais; Paule Dagenais; Sean Hensman; Valérie Haechler; Michel C. Milinkovitch; Michel C. Milinkovitch
Pubblicato in: Current biology, 2021, ISSN 0960-9822
Editore: Cell Press
DOI: 10.1016/j.cub.2021.08.029

Closed-Loop Dynamic Control of a Soft Manipulator Using Deep Reinforcement Learning

Autori: Andrea Centurelli, Luca Arleo, Alessandro Rizzo, Silvia Tolu, Cecilia Laschi, Egidio Falotico
Pubblicato in: IEEE Robotics and Automation Letters, Numero 23773766, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2022.3146903

Ablation Study of a Dynamic Model for a 3D-Printed Pneumatic Soft Robotic Arm

Autori: Carlo Alessi; Egidio Falotico; Alessandro Lucantonio
Pubblicato in: IEEE Access, 2023, ISSN 2169-3536
Editore: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2023.3266282

RL-Based Adaptive Controller for High Precision Reaching in a Soft Robot Arm

Autori: Muhammad Sunny Nazeer , Cecilia Laschi, Egidio Falotico
Pubblicato in: IEEE Transactions on Robotics, 2024, ISSN 1552-3098
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2024.3381558

Editorial: Machine Learning Techniques for Soft Robots

Autori: Thomas George Thuruthel, Egidio Falotico, Lucia Beccai, Fumiya Iida
Pubblicato in: Frontiers in Robotics and AI, Numero 22969144, 2021, ISSN 2296-9144
Editore: Frontiers Media S.A.
DOI: 10.3389/frobt.2021.726774

3D-printed biomimetic artificial muscles using soft actuators that contract and elongate

Autori: Corrado De Pascali, Giovanna Adele Naselli, Stefano Palagi, Rob B. N. Sharff, Barbara Mazzolai
Pubblicato in: Science Robotics, Numero 24709476, 2022, ISSN 2470-9476
Editore: AAAS
DOI: 10.1126/scirobotics.abn4155

Stretchable reflective coating for soft optical waveguides and sensors

Autori: Simone Lantean; Matteo Lo Preti; Lucia Beccai
Pubblicato in: Soft Matter, 2022, ISSN 1744-6848
Editore: Royal Society of Chemistry
DOI: 10.1039/d2sm00869f

Jointless Bioinspired Soft Robotics by Harnessing Micro and Macroporosity

Autori: Seonggun Joe, Ouriel Bliah, Shlomo Magdassi, Lucia Beccai
Pubblicato in: Advanced Science, 2023, ISSN 2198-3844
Editore: Wiley
DOI: 10.1002/advs.202302080

Development of the Ultralight Hybrid Pneumatic Artificial Muscle: Modelling and optimization.

Autori: Seonggun Joe; Massimo Totaro; Hongbo Wang; Lucia Beccai
Pubblicato in: PLoS ONE, 2021, ISSN 1932-6203
Editore: Public Library of Science
DOI: 10.1371/journal.pone.0250325

SofToss: Learning to Throw Objects With a Soft Robot

Autori: Diego Bianchi , Michele Gabrio Antonelli , Cecilia Laschi , Angelo Maria Sabatini, and Egidio Falotico
Pubblicato in: IEEE Robotics & Automation Magazine, 2023, ISSN 1070-9932
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2023.3310865

Sensorized Objects Used to Quantitatively Study Distal Grasping in the African Elephant

Autori: Matteo Lo Preti; Lucia Beccai
Pubblicato in: iScience, 2023, ISSN 2589-0042
Editore: Cell Press, Elsevier
DOI: 10.2139/ssrn.4366155

Controlling Soft Robotic Arms Using Continual Learning

Autori: Francesco Piqué, Hari Teja Kalidindi, Lorenzo Fruzzetti, Cecilia Laschi, Arianna Menciassi, Egidio Falotico
Pubblicato in: IEEE Robotics and Automation Letters, Numero 23773766, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2022.3157369

Online Pressure Map Reconstruction in a Multitouch Soft Optical Waveguide Skin

Autori: Matteo Lo Preti; Massimo Totaro; Egidio Falotico; Marco Crepaldi; Lucia Beccai
Pubblicato in: IEEE/ASME Transactions on Mechatronics, Numero 10834435, 2022, ISSN 1083-4435
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2022.3158979

Robust Fractional-Order Control Using a Decoupled Pitch and Roll Actuation Strategy for the I-Support Soft Robot

Autori: Jorge Muñoz, Francesco Piqué, Concepción A. Monje, Egidio Falotico
Pubblicato in: MDPI Mathematics, Numero 22277390, 2021, ISSN 2227-7390
Editore: MDPI
DOI: 10.3390/math9070702

Soft Mechanosensing via 3D Printing: A review

Autori: Diana Cafiso, Simone Lantean , Candido Fabrizio Pirri, Lucia Beccai
Pubblicato in: Advanced Intelligent Systems, 2023, ISSN 2640-4567
Editore: Wiley
DOI: 10.1002/aisy.202200373

Multi-Material 3D Printed Shape Memory Polymer with Tunable Melting and Glass Transition Temperature Activated by Heat or Light

Autori: Ela Sachyani Keneth , Rama Lieberman , Matthew Rednor , Giulia Scalet, Ferdinando Auricchio and Shlomo Magdassi
Pubblicato in: Polymers, 2020, ISSN 2073-4360
Editore: MDPI
DOI: 10.3390/polym12030710

A Review on Vacuum-Powered Fluidic Actuators in Soft Robotics

Autori: Seonggun Joe, Federico Bernabei, Lucia Beccai
Pubblicato in: Rehabilitation of the Human Bone-Muscle System, 2022
Editore: IntechOpen
DOI: 10.5772/intechopen.104373

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