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Editorial: On the Planning, Control, and Perception of Soft Robotic End-Effectors

Averta, Giuseppe and Della Santina, Cosimo and Ficuciello, Fanny and Roa Garzon, Máximo Alejandro and Bianchi, Matteo (2021) Editorial: On the Planning, Control, and Perception of Soft Robotic End-Effectors. Frontiers in Robotics and AI. Frontiers Media S.A. doi: 10.3389/frobt.2021.795863. ISSN 2296-9144.

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Official URL: https://www.frontiersin.org/articles/10.3389/frobt.2021.795863/full


n the past, robots have been almost exclusively designed with industrial settings in mind. Accurate positioning and precise tracking were the main requirements for performing repetitive tasks in structured environments with rigid end-effectors. In recent years, robots have come out of the cages Albu-Schaffer et al. (2008) and can freely interact and collaborate with humans in unstructured scenarios. This has opened new challenges to guarantee the safety of human-robot interaction and the purposeful interaction with the environment. To this aim, soft robots that embed compliant elements in their structure have emerged as a promising solution, and compliant end-effectors have been introduced, which can interact and adapt to external conditions as human hands do, have gained increasing attention. This new framework, which encompasses the design, planning, sensing, and control of soft end-effectors, comes with several theoretical and practical open challenges. Indeed, the research community has made a considerable effort to develop novel academic and technological solutions to allow robots to operate amongst and with humans and safely move in, and interact with, unknown and unstructured environments.

Item URL in elib:https://elib.dlr.de/147159/
Document Type:Article
Title:Editorial: On the Planning, Control, and Perception of Soft Robotic End-Effectors
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Averta, GiuseppePolitecnico di TorinoUNSPECIFIED
Della Santina, CosimoCosimo.DellaSantina (at) dlr.dehttps://orcid.org/0000-0003-1067-1134
Ficuciello, FannyUniversity of Naples Federico IIUNSPECIFIED
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.dehttps://orcid.org/0000-0003-1708-4223
Bianchi, MatteoResearch Center ‘E. Piaggio’, University of Pisa, ItalyUNSPECIFIED
Date:22 November 2021
Journal or Publication Title:Frontiers in Robotics and AI
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In ISI Web of Science:Yes
DOI :10.3389/frobt.2021.795863
Publisher:Frontiers Media S.A
Keywords:soft robotics, end effectors
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Autonomy & Dexterity [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:10 Dec 2021 00:13
Last Modified:14 Dec 2021 14:36

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