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Actuators
Special Issues
Design, Planning and Control of Soft and Adaptive Robots
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Design, Planning and Control of Soft and Adaptive Robots

A special issue of Actuators (ISSN 2076-0825). This special issue belongs to the section "Actuators for Robotics".

Deadline for manuscript submissions: closed (30 September 2022) | Viewed by 2546

Special Issue Editors

Dr. Manolo Garabini

E-Mail Website
Guest Editor
Research Center “E. Piaggio”, Department of Information Engineering, University of Pisa, 56122 Pisa, Italy
Interests: soft actuators; design of soft robots; optimal control of soft robots; impedance planning; robotics for environmental monitoring
Dr. Franco Angelini

E-Mail Website
Guest Editor
Research Center “E. Piaggio”, Department of Information Engineering, University of Pisa, 56122 Pisa, Italy
Interests: control systems; compliant joints and mechanisms; soft robotics; impedance control and planning; grasp planning; flexible robots; learning algorithms
Dr. Tom Verstraten

E-Mail Website
Guest Editor
Robotics & Multibody Mechanics Research Group (R&MM) and Flanders Make, Vrije Universiteit Brussel, 1050 Brussels, Belgium
Interests: actuator design; energy-efficient actuation; compliant actuation; redundant actuation; human–robot interaction; design optimization

Special Issue Information

Dear Colleagues,

Due to recent developments in the design, planning and control algorithms of soft and adaptive robots, the time when such robots will begin to effectively and efficiently perform in unstructured environments is rapidly approaching.

This Special Issue will cover all the above-mentioned advancements. Potential topics include, (but are not limited to) the following:

  • Proprioceptive and exteroceptive sensing of soft and adaptive robots;
  • Software architectures for autonomous soft and adaptive robots;
  • Innovative design of soft and adaptive robot bodies;
  • Innovative design of soft and adaptive actuators;
  • Adaptive navigation in unstructured environments;
  • Dynamic motion planning exploiting soft and adaptive robot bodies;
  • Impedance planning and control of soft and adaptive robots;
  • Model-based and model-free control of soft robots.

Dr. Manolo Garabini
Dr. Franco Angelini
Dr. Tom Verstraten
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Actuators is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • proprioceptive and exteroceptive sensing of soft and adaptive robots
  • software architectures for autonomous soft and adaptive robots
  • innovative design of soft and adaptive robot bodies
  • innovative design of soft and adaptive actuators
  • adaptive navigation in unstructured environments
  • dynamic motion planning exploiting soft and adaptive robot bodies
  • impedance planning and control of soft and adaptive robots
  • model-based and model-free control of soft robots

Published Papers (1 paper)

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Research

19 pages, 9096 KiB  
Article
Development of Two-Way Self-Adaptive Gripper Using Differential Gear
by Bongki Kang and Joono Cheong
Actuators 2023, 12(1), 14; https://doi.org/10.3390/act12010014 - 28 Dec 2022
Cited by 1 | Viewed by 2229
Abstract
In this paper, a two-way self-adaptive gripper that has adaptability to external disturbance loads during linear opening/closing pinch actions and adaptability to encompass a variety of shapes during grasping using a single actuator is proposed, unlike the previous self-adaptive robotic grippers capable of [...] Read more.
In this paper, a two-way self-adaptive gripper that has adaptability to external disturbance loads during linear opening/closing pinch actions and adaptability to encompass a variety of shapes during grasping using a single actuator is proposed, unlike the previous self-adaptive robotic grippers capable of only shape adaptation. Therefore, both linear motion adaptability and shape adaptability during parallel grasping situations are enabled by the proposed design of the gripper. Adaptation to the linear pinch motion is provided through the use of a differential gear, the two outputs of which drive the two tips of the gripper. If facing uneven external loads, the differential gear adaptively alters the speeds of the two outputs, resulting in different closing speeds of the two gripper tips. Despite asymmetric closing, very stable grasping can be guaranteed for such a situation. The differential gear can even complete the grasping by intentionally or unintentionally fixing one of the gripper tips. The proposed design is also capable of shape adaptation in the encompassing grasping mode by adopting a parallel-linkage gripper mechanism, consisting of an exoskeleton and 6 internal joints with a spring element. The finger exoskeleton facilitates pinch and spread actions, while the encompassing action is carried out by adjusting the internal linkage. Based on the kinematic analysis and modeling of the proposed gripper, a prototype of the two-way adaptive gripper hardware was developed. Several experiments were performed to verify the feasibility and validity of the proposed gripper system. The actuator using the proposed differential gear was shown to be able to grasp objects in jammed conditions. In addition, the gripper was able to perform grasping actions, such as pinch, spread, and encompassing grasp. Full article
(This article belongs to the Special Issue Design, Planning and Control of Soft and Adaptive Robots)
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