NSF EFRI: An End-to-End Framework for Soft Robot Design and Control Based on High-Performance Electrohydraulic Transducers

Sponsor: NSF
Investigators: PI: Rob Shepherd (Cornell), Co-PIs: Sean Humbert (CU), Christoph Keplinger (CU), Amit Lal (Cornell), Hadas Kress-Gazit (Cornell)

The program goal of this EFRI C3 SORO is to create a framework for the design, reproducible manufacturing, and distributed control and electronics of compliant robots with (a) practical distributed electric power generation and computation; (b) intuitive control via dynamic shape change and perception; and (c) reproducible and reliable fabrication of electrohydraulic robots.

  • Volchko A, Mitchell SK, Morrissey TG and Humbert JS, “Model-Based Data-Driven System Identification and Controller Synthesis Framework for Precise Control of SISO and MISO HASEL-Powered Robotic Systems,” 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft), Edinburgh, UK, 2022, pp. 209-216, DOI: 10.1109/RoboSoft54090.2022.9762220.
  • Johnson B, Sundaram V, Naris M, Acome E, Ly KD, Correll N, Keplinger C, Humbert JS and Rentschler M, “Identification and Control of a Nonlinear Soft Actuator and Sensor System,” IEEE Robotics and Automation Letters, Vol. 5, No. 3, pp. 3783-3790, 2020, DOI: 10.1109/LRA.2020.2982056.

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