Soft Contact

Description

We will elucidate the dynamics of contact between a soft body and a soft environment. When a soft robot moves in contact with the environment, a dynamic interaction occurs between the soft robot and the environment. This interaction, which will be referred to as soft contact, will be analyzed and formulated.

In jumping soft robots, the impulse generated between the robot and the environment determines the jumping height of the robot. This impulse depends on the deformed shape and material properties of the robot as well as the deformation and frictional properties of the environment. We will thus formulate the jumping of the soft robot to obtain the deformed shape and properties to realized a higher jumping.

mechanics of jumping crawling and jumping
soft robots soft interface micro parts feeding

2010/5/26 Biomimetic Soft Morphing Workshop at Seoul National University

2005/7/26-8/7 Demonstration on Crawling and Jumping Soft Robot KOHARO at the Robot Station, Expo 2005 Aichi Japan. (HP)

2005/6/9-19 Demonstration on Crawling and Jumping Soft Robot KOHARO at Prototype Robot Exhibition, Expo 2005 Aichi Japan. (photo diary) (demonstration)

Budget

JSPS KAKENHI Grant-in-Aid for Scientific Research on Innovative Areas (Science of Soft Robot) project under Grant Number 21H00333 "Mechanics of Wet Contact with Applications to Sticky/Slippery Object Manipulation", 2021 - 2022
JSPS KAKENHI Grant-in-Aid for Scientific Research on Innovative Areas (Science of Soft Robot) project under Grant Number 19H05337 "Mechanics and Synthesis of Soft Contact", 2019 - 2020

Notes

Takahiro Matsuno and Shinichi Hirai, Analysis of Soft Contact in Force Sensing and Elastic Jumping, Journal of Robotics and Mechatronics, Vol.34, No.2, Special Issue on Science of Soft Robots, pp.285-287, 10.20965/jrm.2022.p0285, Apr., 2022
Takahiro Matsuno and Shinichi Hirai, Optimization of the Initial Deformed Shape of a Circular Elastic Jumping Robot, 2020 IEEE Int. Conf. on Soft Robotics (RoboSoft 2020), 10.1109/RoboSoft48309.2020.9116037, online, May 15 - June 15, 2020

Related Sites


mechanics of jumping	crawling and jumping soft robots	soft interface	micro parts feeding


2010/5/26	Biomimetic Soft Morphing Workshop at Seoul National University

2005/7/26-8/7	Demonstration on Crawling and Jumping Soft Robot KOHARO at the Robot Station, Expo 2005 Aichi Japan. (HP)
2005/6/9-19	Demonstration on Crawling and Jumping Soft Robot KOHARO at Prototype Robot Exhibition, Expo 2005 Aichi Japan. (photo diary) (demonstration)