[robotics-worldwide] [Journals] IJRR special issue “Soft Robotic Modeling and Control: Bringing Together Articulated Soft Robots and Soft-Bodied Robots”

Soft Robot Modelling and Control softrobotsmoco18 at gmail.com
Sat Nov 3 03:12:19 PDT 2018

Call for Papers
The International Journal of Robotics Research

Special Issue:
“Soft Robotic Modeling and Control: Bringing Together Articulated Soft
Robots and Soft-Bodied Robots”

Guest Editors:
Daniela Rus, Massachusetts Institute of Technology, USA
Robert Katzschmann, Massachusetts Institute of Technology, USA
Cosimo Della Santina, University of Pisa, Italy
Antonio Bicchi, Italian Institute of Technology, Italy

Animals move very differently from rigid robots, performing dynamic tasks
efficiently, and interacting robustly, compliantly, and continuously with
the external world through their body's elasticity. With the aim of getting
closer to animals’ performance, elastic elements are purposefully
introduced in the mechanical structure of soft robots. When it comes to
compliant control systems, however, it turns out that achieving performance
is not at all easier. This fact is intuitive for such measures of
performance as positional accuracy, which is the reason industrial robots
have traditionally been built for maximum rigidity.

Articulated soft robots have rigid bodies and elastic joints with either
constant or variable impedance. Their source of inspiration is the
vertebrate part of the animal kingdom. Model-based control of articulated
soft robots is a relatively mature research field, with both theoretical
and practical results showing how soft robots can outperform classical
rigid robots in various applications. However, many problems remain
unsolved, for example how to properly design feedback controllers without
altering the natural softness of the robot, or how to efficiently excite
the robot’s natural dynamics, just to cite a few.

In contrast, continuum soft robots are primarily inspired by the
invertebrate world. Their structure is continuously deformable, and
typically composed by innovative materials. These characteristics make the
derivation of accurate and tractable dynamic models quite challenging.
While the lack of tractable models prevents the direct application of
classical control theory to the control of these kind of robots, it also
pushes researchers to find innovative solutions to control these continuum
soft robots.

Despite a common origin, the two fields emerged at different times and grew
separately. This special issue has the objective to bring both fields
together by fostering the discussion and exchange on the similarities and
differences in modelling and controlling robots that have in common their
inherent compliance.

Topics of Interest include
• Model based control of continuum and articulated soft robots
• Optimization in designing and controlling elastic bodies
• Modelling and simulation of continuum soft robots and flexible robots
• Morphological computation and evolutionary robotics
• Learning techniques in soft robotics
• Resonant modes and non-linear oscillations
• The role of elasticity in the natural body

Authors interested in contributing to this special issue are advised to
submit their papers via the dedicated submission site:

During the submission the authors must indicate that the paper is intended
for this special issue; an option called ‘SofRobotics’ will be offered by
the system at the first Step in the choice of document Type.

If you have any queries regarding uploading a paper please contact:
IJRR Editorial Office - ijrr.admin at sagepub.co.uk

The deadline for submission of full papers is December 15th, 2018.
The expected publication is Spring 2019.

Submission guidelines:
Submit your article:

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