Conference Day (5 April)

Welcome and short introduction to the conference

Adaptation to ever-changing and unpredictable ecological niches, morphological tinkering and functional co-optations in new contexts (exaptation), redundancy as a source of innovation, functional and energy efficiency: evolution can offer many original ideas to think about the future developments of Soft Robotics, mostly in terms of innovation and environmental sustainability.

CTR DaPP: A Python Application for Design and Path Planning of Variable-strain Concentric Tube Robots
Messer, Conor; Mladenovic, Nenad; Mathew, Anup Teejo; Renda, Federico

Simulating Electrohydraulic Soft Actuator Assemblies Via Reduced Order Modeling
Hainsworth, Travis; Schmidt, Ingemar; Sundaram, Vani; Keplinger, Christoph; MacCurdy, Robert

A Simulation-Based Toolbox to Expedite the Digital Design of Bellow Soft Pneumatic Actuators
Yao, Yao; He, Liang; Maiolino, Perla

The Soft Compiler: A Software Tool for the Design of Modular Pneumatic Circuits for Soft Robots
Nemitz, Markus; Whiteside, Lauryn; Kendre, Savita Vitthalrao; Tracz, Jovanna; Underwood, Thomas; Sayed, Mohammed; Jiang, Haihui Joy; Stokes, Adam Andrew; Preston, Daniel; Whitesides, George

A modular pneumatic soft bending actuator
Lamping, Frederik; Müller, Daniel; de Payrebrune, Kristin M.

A Multi-Material, Anthropomorphic Metacarpophalangeal Joint with Abduction and Adduction Actuated by Soft Artificial Muscles
Gollob, Samuel Dutra; Poss, Jonhenry; Memoli, Garrett; Roche, Ellen

A Self-commutated Helical Polypyrrole Actuator Fabricated by Filament Patterning
Valdur, Kadri-Ann; Tamm, Tarmo; Aabloo, Alvo; Must, Indrek

Characterization of Soft 3D Printed Actuators for Parallel Networks
Khetan, Shashank; Blumenschein, Laura

Design and Fabrication of 3D papercraft IPMC robots
Nabae, Hiroyuki; Kubo, Keita; Shishikura, Kazuki; Horiuchi, Tetsuya; Asaka, Kinji; Endo, Gen; Suzumori, Koichi

Development and Characterization of a Soft Valve for Automatic Fault Isolation in Inflatable Soft Robots
Pontin, Marco; Miyashita, Shuhei; Damian, Dana

Highly Articulated Tube Mechanism with Variable Stiffness and Initial Shape Restoration Using a Pneumatic Actuator
Onda, Issei; Tadakuma, Kenjiro; Watanabe, Masahiro; Abe, Kazuki; Watanabe, Tetsuyou; Konyo, Masashi; Tadokoro, Satoshi

Open Source Tendon-driven Continuum Mechanism: A Platform for Research in Soft Robotics
Deutschmann, Bastian; Reinecke, Jens; Dietrich, Alexander

Programmable Amplification Using a Soft Folding Actuator
Gillespie, Brent; Brei, Zachary

Thermoelastic Strain-limiting Layers to Actively-control Soft Actuator Trajectories
Gunawardane, Palpolage Don Shehan Hiroshan; Budiardjo, Nathaniel; Alici, Gursel; de Silva, Clarence; Chiao, Mu

Tube-Balloon Logic for Education in Soft Robotics
Nemitz, Markus; Tracz, Jovanna; Wille, Lukas; Pathiraja, Dylan; Ethan, Turret; Kendre, Savita Vitthalrao; Abrahamsson, Christoffer; Root, Samuel; Lee, Won-Kyu; Preston, Daniel; Jiang, Haihui Joy; Whitesides, George

Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration
Hirose, Toshinori; Kitagawa, Shingo; Hasegawa, Shun; Kakiuchi, Yohei; Okada, Kei; Inaba, Masayuki

Design and Characterisation of Cross-sectional Geometries for Soft Robotic Manipulators with Fibre-reinforced Chambers
Shi, Jialei; Gaozhang, Wenlong; Wurdemann, Helge Arne

Design and Analysis of Origami-Inspired, Large-Elongation, Reconfigurable Soft Robot Modules
Hilby, Kristan; Padia, Vineet; Hunter, Ian

MORI-A: Soft Decompression Module with 3D Printable Deformation Structure
Ogawa, Jun; Mori, Tomoharu; Watanabe, Yosuke; Kawakami, Masaru; Shiblee, MD Nahin Islam; Furukawa, Hidemitsu

ReRobot: Recycled Materials for Trustworthy Soft Robots
Partridge, Alix James; Chen, Hsing-Yu; Le, Nguyen Hao; Xu, Ciqun; Eichhorn, Hendrik; Pulvirenti, Emanuele; Manzini, Arianna; Conn, Andrew; Rossiter, Jonathan

Animals are semi-discretized. Systems of organs that perform multiple functions and are spatially discrete from each other, yet interconnected chemically and electrically. The complexity of animals such as vertebrate mammals allow for adaptation within a single generation that has allowed many examples of species that have thrived without genetic modification even during periods of significant environmental change. In the search for generally adaptive robots, useful for far field exploration missions, we believe that a similar model of complex, multifunctional, and interconnected organ systems of animals should be embraced, rather than avoided. Of course, it is not yet that simple to be complex, but we will present approaches we have used to distribute sensing, actuation, energy, and computation in soft robots. The framework we use for guiding our design evolution is Autonomous Materials, where we push the manufacturing of robots towards forming processes, and multifunctional use of material chemistry. The resulting machinery presented will be organic both in chemical makeup and subsystem analogy to organisms.

Robust Control of a Multi-Axis Shape Memory Alloy-Driven Soft Manipulator
Patterson, Zach J.; Sabelhaus, Andrew P.; Majidi, Carmel

Visual Servoing for Pose Control of Soft Continuum Arm in a Structured Environment
Kamtikar, Shivani Kiran; Uppalapati, Naveen Kumar; Walt, Benjamin Thomas; Marri, Samhita; Krishnan, Girish; Chowdhary, Girish

Simultaneous Positive and Negative Pressure Control using Disturbance Observer Compensating Coupled Disturbance Dynamics
Park, Chanyong; Doh, Myeongyun; Ha, Yoonwoo; Choi, Iksu; Choi, Hyouk Ryeol; Koo, Ja Choon; Rodrigue, Hugo; Moon, Hyungpil

Controlling Soft Robotic Arms Using Continual Learning
Piqué, Francesco; Kalidindi, Hari Teja; Fruzzetti, Lorenzo; Laschi, Cecilia; Menciassi, Arianna; Falotico, Egidio

A Data-Efficient Model-Based Learning Method for the Closed-Loop Control of Continuum Robots
Wang, Xinran; Rojas, Nicolas

A Desktop-sized Platform for Real-time Control Applications of Pneumatic Soft Robots
Caasenbrood, Brandon; van Beek, Femke; Chu, Khanh Hoang; Kuling, Irene

A Woodpecker’s Tongue-inspired, Bendable and Extendable Robot Manipulator with Structural Stiffness
Matsuda, Ryota; Mavinkurve, Ujjal; Kanada, Ayato; Honda, Koki; Nakashima, Yasutaka; Yamamoto, Motoji

Automated planning for robotic guidewire navigation in the coronary arteries
Schegg, Pierre; Dequidt, Jeremie; Coevoet, Eulalie; Leurent, Edouard; Sabatier, Rémi; Preux, Philippe; Duriez, Christian

Biodegradable seed-like probe for self-burying soft miniature robots
Fiorello, Isabella; Margheri, Laura; Filippeschi, Carlo; Mazzolai, Barbara

Bioinspired Soft Digging Robot
Drotman, Dylan; Chopra, Shivam; Gravish, Nick; Tolley, Michael T.

Hybrid Soft Robots Incorporating Soft and Stiff Elements
Kodippili Arachchige, Dimuthu Dharshana; Godage, Isuru S.

Model-Based Data-Driven System Identification and Controller Synthesis Framework for Precise Control of SISO and MISO HASEL-Powered Robotic Systems
Volchko, Angella; Mitchell, Shane; Morrissey, Timothy; Humbert, James Sean

Modeling and Control of an Omnidirectional Micro Aerial Vehicle Equipped with a Soft Robotic Arm
Szász, Róbert; Allenspach, Mike; Han, Minghao; Tognon, Marco; Katzschmann, Robert Kevin

Robotic Foot with Midtarsal Joint Locking Mechanism
Enomoto, Kazuma; Chen, Tsung-Yuan; Kawasetsu, Takumi; Hosoda, Koh

Seawater and arm length enhance memory capacity in octopus-inspired soft robotic arm
Kagaya, Katsushi; Yu, Bowei; Minami, Yuna; Nakajima, Kohei

Signalling Emotions with a Breathing Soft Robot
Klausen, Troels Aske; Farhadi, Ulrich; Vlachos, Evgenios; Jørgensen, Jonas

Task-oriented robot control user interface designer for cable-driven soft robots without kinematic models
Li, Haoyan; Nishino, Tomoka; Dhakal, Binod; Mitake, Hironori; Hasegawa, Shoichi

WISARD: Weight Informing Soft Artificial Robotic Dermis
Larsen, Bjarke; Manoonpong, Poramate; Jørgensen, Jonas

A plant-hybrid system for wind monitoring connected with social networks
Armiento, Serena; Mondini, Alessio; Meder, Fabian; Mazzolai, Barbara

A leaf-inspired robot combining embroidered structure with ion-induced actuation
Küüts, Mona; Aabloo, Alvo; Must, Indrek

Data-driven Simulation Framework for Expressive Piano Playing by Anthropomorphic Hand with Variable Passive Properties
Wang, Huijiang; Howison, Toby; Hughes, Josie; Abdulali, Arsen; Iida, Fumiya

Lip-Inspired Passive Jamming Gripper
Hong, Jooyoung; Mathur, Dhruv; Kim, Joohyung

A biomimetic suction cup with a V-notch structure inspired by the net-winged midge larvae
Xu, Haoyuan; Yang, Fuqiang; Zhang, Yiyuan; Jiang, XinYu; Wen, Li

A plant tendril-like soft robot that grasps and anchors by exploiting its physical intelligence
Meder, Fabian; Murali Babu, Saravana Prashanth; Mazzolai, Barbara

Science Café are informal panel discussions among a small group of researchers moderated by a scientific journalist and open to a generic audience.

The Science Café I focuses on “Soft Robots for the Planet: research trends and applications”, and includes topics such as: the use of soft robots for environmental monitoring, in precision agriculture and agri-food sector; new forms of energy for soft robots; soft robots for biology; insights for a more sustainable design and development of soft robots.

The events will be in person only.