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Soft robots are one of the most significant recent evolutions in robotics. They rely on compliant physical structures purposefully designed to embody desired characteristics. Since their introduction, they have shown remarkable applicability in overcoming their rigid counterparts in such areas as interaction with humans, adaptability, energy efficiency, and maximization of peak performance. Nonetheless,...
Many walking robot presented in literature stand on rigid flat feet, with a few notable exceptions that embed flexibility in their feet to optimize the energetic cost of walking. This paper proposes a novel adaptive robot foot design, whose main goal is to ease the task of standing and walking on uneven terrains. After explaining the rationale behind our design approach, we present the design of the...
In this paper, we study the role of soft actuation in the reduction of the energy cost for mechanical systems that perform cyclic tasks. The objective is to determine the optimal stiffness value and spring pre-load such that a given cost functional is minimized. For the analysis, we consider both fully actuated and underactuated mechanical systems using elastic actuators which, depending on how and...
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