- 43
- 100 900
Soft Robotics Lab [SRL] / ETH Zurich
Switzerland
เข้าร่วมเมื่อ 19 มี.ค. 2021
The Soft Robotics Lab has been founded in July 2020 by Prof. Robert Katzschmann, previously of MIT. With experience in designing soft, flexible, and adaptive robots the team will further develop, fabricate and design ground breaking control systems to push the abilities of robots for real life applications.
In recent years the research has gained extensive attention from news and media alike. These include The New York Times, The Wall Street Journal, National Geographic, Reuters, BBC, NBC News, Nature, CNN, Wired, CNBC, TechCrunch, LA Times, NPR, CNET, Mashable, The Verge, Forbes, IEEE Spectrum, Popular Mechanics, Science Magazine and Scientific American.
In recent years the research has gained extensive attention from news and media alike. These include The New York Times, The Wall Street Journal, National Geographic, Reuters, BBC, NBC News, Nature, CNN, Wired, CNBC, TechCrunch, LA Times, NPR, CNET, Mashable, The Verge, Forbes, IEEE Spectrum, Popular Mechanics, Science Magazine and Scientific American.
Multidirectional Filamented Light Biofabrication Creates Aligned and Contractile Cardiac Tissues
In this video, we highlight our recent publication in Advanced Science on Multidirectional Filamented Light (FLight) Biofabrication-a cutting-edge technique for creating aligned and contractile cardiac tissues.
This approach enables the fabrication of complex, multi-layered tissue structures that closely mimic the natural alignment of heart muscle. With potential applications in regenerative medicine and biohybrid robotics, FLight Biofabrication sets a new standard for high-density, functional cardiac tissue engineering.
Watch to learn more about this innovative method, and explore the full paper for in-depth details! Here is the link to the paper onlinelibrary.wiley.com/doi/10.1002/advs.202404509
This approach enables the fabrication of complex, multi-layered tissue structures that closely mimic the natural alignment of heart muscle. With potential applications in regenerative medicine and biohybrid robotics, FLight Biofabrication sets a new standard for high-density, functional cardiac tissue engineering.
Watch to learn more about this innovative method, and explore the full paper for in-depth details! Here is the link to the paper onlinelibrary.wiley.com/doi/10.1002/advs.202404509
มุมมอง: 123
วีดีโอ
Vision-Based Online Key Point Estimation of Deformable Robots
มุมมอง 37114 วันที่ผ่านมา
The precise control of soft and continuum robots requires knowledge of their shape, which has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reconstruct the shape, proprioceptive techniques use built-in sensors resulting in inaccurate results and increased fabrication complexity. Exteroceptive methods so far rely on expensive tracking systems with reflective m...
High-Frequency Capacitive Sensing for Electrohydraulic Soft Actuators - IROS 2024
มุมมอง 1.3Kหลายเดือนก่อน
Presentation of our work on High-Frequency Capacitive Sensing for Electrohydraulic Soft Actuators. Authors: Michel Vogt, Maximilian Eberlein, Clemens Christoph, Felix Baumann, Fabrice Bourquin, Wim Wende, Fabio Schaub, Amirhossein Kazemipour, Robert Katzschmann Oral presentation on 17 October 2024 at the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024) in Abu...
An Open-Source Soft Robotic Platform for Autonomous Aerial Manipulation in the Wild
มุมมอง 1.8Kหลายเดือนก่อน
Discover the future of aerial manipulation with our untethered soft robotic platform with on-board perception stack! Presented at the 2024 Conference on Robot Learning in Munich, this platform introduces autonomous aerial manipulation that works in both indoor and outdoor environments-without relying on costly offboard tracking systems. Watch as our system grasps objects using onboard perceptio...
Electrohydraulic musculoskeletal robotic leg for agile, adaptive, yet energy-efficient locomotion
มุมมอง 1.4K2 หลายเดือนก่อน
Robotic locomotion in unstructured terrain demands an agile, adaptive, and energy-efficient architecture. To traverse such terrains, legged robots use rigid electromagnetic motors and sensorized drivetrains to adapt to the environment actively. These systems struggle to compete with animals that excel through their agile and effortless motion in natural environments. We propose a bio-inspired m...
Stretchable Electrohydraulic Artificial Muscle for Full Motion Ranges in Musculoskeletal Robots
มุมมอง 2.7K2 หลายเดือนก่อน
We present a new artificial antagonistic muscle system that overcomes the limitations of current artificial muscles by enabling both contraction and extension. Our design integrates non-stretchable electrohydraulic soft actuators (HASELs) with electrostatic clutches within an antagonistic musculoskeletal framework. This configuration allows for a full range of motion without displacement loss d...
Bilayered biofabrication unlocks the potential of skeletal muscle for biohybrid soft robots
มุมมอง 3462 หลายเดือนก่อน
The emerging field of biohybrid robotics aims to create the next generation of soft and sustainable robots by using engineered biological muscle tissues integrated with soft materials as artificial muscles (bio-actuators). In this work, we extend the possible geometry of skeletal muscle bio-actuators by demonstrating a bilayered design that mimics the motion of jellyfish. We demonstrate the loc...
Rotograb: Combining Biomimetic Hands with Industrial Grippers using a Rotating Thumb
มุมมอง 2.7K2 หลายเดือนก่อน
In this video, we introduce Rotograb, a robotic hand that merges the dexterity of human hands with the strength and efficiency of industrial grippers. Rotograb features a new rotating thumb mechanism, allowing for precision in-hand manipulation and power grasps while being adaptable. The robotic hand was developed by students during "Real World Robotics", a master course by the Soft Robotics La...
SMORS: A soft multirotor UAV for multimodal locomotion and robust interaction
มุมมอง 6074 หลายเดือนก่อน
SMORS is the first Soft fully actuated MultirOtoR System for multimodal locomotion. Unlike conventional hexarotors, SMORS is equipped with three rigid and three continuously soft arms, with each arm hosting a propeller. We create a bridge between the fields of soft and aerial robotics by mechanically coupling the actuation of a fully actuated flying platform with the actuation of a soft robotic...
Task-defined Pulley Design for Nonlinearly Coupled Tendon-driven Actuation
มุมมอง 4625 หลายเดือนก่อน
Coupled actuation is a common strategy for reducing the number of actuators in robots with high degrees of freedom. Coupled actuation leads to an underactuation that lowers system complexity and weight. However, an approach for a controlled nonlinear coupling of multiple tendons does not exist for tendon-driven actuation. We propose a method to enable task-defined non-linearly coupled actuation...
Multi-Tap Resistive Sensing and FEM Modeling Enables Shape and Force Estimation in Soft Robots
มุมมอง 2.5K6 หลายเดือนก่อน
"Multi-tap Resistive Sensing and FEM Modeling Enables Shape and Force Estimation in Soft Robots" by Sizhe Tian*, Barnabas Gavin Cangan*, Stefan Escaida Navarro, Artem Beger, Christian Duriez, and Robert K. Katzschmann ETH Zurich's Research Collection: www.research-collection.ethz.ch/handle/20.500.11850/653572 Arxiv: arxiv.org/abs/2311.14566
Sensorized Soft Skin for Dexterous Robotic Hands - ICRA 2024
มุมมอง 2.3K6 หลายเดือนก่อน
A capable robotic hand requires an artificial skin for suitable grip and a sense of touch. We here propose sensorized soft skins for dexterous robotic hands. We introduce our multi-material 3D-printing technique for prototyping and silicone casting for skin manufacturing. Force and dynamic tests demonstrate the skin's contribution to object manipulation. We show how piezoresistive pressure sens...
IROS2024 - High-Frequency Capacitive Sensing for Electrohydraulic Soft Actuators
มุมมอง 7666 หลายเดือนก่อน
Michel R. Vogt, Maximilian Eberlein, Clemens C. Christoph, Felix Baumann, Fabrice Bourquin, Wim Wende, Fabio Schaub, Amirhossein Kazemipour, Robert K. Katzschmann The need for compliant and proprioceptive actuators has grown more evident in pursuing more adaptable and versatile robotic systems. Hydraulically Amplified Self-Healing Electrostatic (HASEL) actuators offer distinctive advantages wit...
Self-Sensing Feedback Control of an Electrohydraulic Robotic Shoulder
มุมมอง 8896 หลายเดือนก่อน
Clemens C. Christoph, Amirhossein Kazemipour, Michel R. Vogt, Yu Zhang, Robert K. Katzschmann The human shoulder, with its glenohumeral joint, tendons, ligaments, and muscles, allows for the execution of complex tasks with precision and efficiency. However, current robotic shoulder designs lack the compliance and compactness inherent in their biological counterparts. A major limitation of these...
Artificial muscles - Low voltage electrohydraulic actuators for untethered robotics
มุมมอง 7K9 หลายเดือนก่อน
We present hydraulically amplified low-voltage electrostatic (HALVE) actuators that match mammalian skeletal muscles in average power density (50.5 watts per kilogram) and peak strain rate (971% per second) at a 4.9 times lower driving voltage (1100 volts) compared to the state of the art. HALVE actuators are safe to touch, are waterproof, and exhibit self-clearing properties. We characterize, ...
Building Robotic Hands - The Highlights of Real-World-Robotics 2023
มุมมอง 1.5K10 หลายเดือนก่อน
Building Robotic Hands - The Highlights of Real-World-Robotics 2023
Bringing Robots to the World | ETH Zürich Real World Robotics Tutorial 7
มุมมอง 58411 หลายเดือนก่อน
Bringing Robots to the World | ETH Zürich Real World Robotics Tutorial 7
[manipulation RL tutorial] faive_gym: train your own robot hand with IsaacGym in the GPU
มุมมอง 3Kปีที่แล้ว
[manipulation RL tutorial] faive_gym: train your own robot hand with IsaacGym in the GPU
Advancing Robust Controllers with Reinforcement Learning | ETH Zürich Real World Robotics Tutorial 6
มุมมอง 416ปีที่แล้ว
Advancing Robust Controllers with Reinforcement Learning | ETH Zürich Real World Robotics Tutorial 6
Teleoperation using Machine Learning and Computer Vision | ETH Zürich Real World Robotics Tutorial 5
มุมมอง 561ปีที่แล้ว
Teleoperation using Machine Learning and Computer Vision | ETH Zürich Real World Robotics Tutorial 5
Implementing Control Strategies for Manipulation | ETH Zürich Real World Robotics Tutorial 4
มุมมอง 743ปีที่แล้ว
Implementing Control Strategies for Manipulation | ETH Zürich Real World Robotics Tutorial 4
Identifying Kinematics and Dynamics of Robots | ETH Zürich Real World Robotics Tutorial 3
มุมมอง 1.1Kปีที่แล้ว
Identifying Kinematics and Dynamics of Robots | ETH Zürich Real World Robotics Tutorial 3
Simulating Robots and Soft Interactions with the World | ETH Zurich Real World Robotics Tutorial 2
มุมมอง 2.6Kปีที่แล้ว
Simulating Robots and Soft Interactions with the World | ETH Zurich Real World Robotics Tutorial 2
Building and Fabricating an Articulated Robot Hand | ETH Zurich Real World Robotics Tutorial 1
มุมมอง 17Kปีที่แล้ว
Building and Fabricating an Articulated Robot Hand | ETH Zurich Real World Robotics Tutorial 1
Why do we build robotic hands? | ETH Zurich Real World Robotics Tutorial 0
มุมมอง 2Kปีที่แล้ว
Why do we build robotic hands? | ETH Zurich Real World Robotics Tutorial 0
Bioprinting of Perfusable Skeletal Muscle Tissue
มุมมอง 15Kปีที่แล้ว
Bioprinting of Perfusable Skeletal Muscle Tissue
Meta-Learning via Classifier(-free) Diffusion Guidance
มุมมอง 499ปีที่แล้ว
Meta-Learning via Classifier(-free) Diffusion Guidance
Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand
มุมมอง 3.7Kปีที่แล้ว
Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand
Autonomous Marker-Less Rapid Aerial Grasping
มุมมอง 142ปีที่แล้ว
Autonomous Marker-Less Rapid Aerial Grasping
DeSKO: Stability-Assured Robust Control with a Deep Stochastic Koopman Operator
มุมมอง 313ปีที่แล้ว
DeSKO: Stability-Assured Robust Control with a Deep Stochastic Koopman Operator
Impressive work, even in 2024
Thank you for Sharing...❤❤❤❤❤❤❤❤❤❤❤❤❤❤
for an improvement on artificial hearts, limbs, organs?
Wonderful to see this demo... I had given a keynote speech in Europe 20 years ago titled "The Convergence of Convergence(s)" about how so much technical convergence was happening in separate parallel areas, e.g. tech, computing, AI, composites, etc. that smart companies/creators would be able to create incredible new solutions by combining the best needed pieces from each area. Such beautiful developments bring tears of joy to my eyes. I will ping you about some more ideas if you are interested.
So, this works mostly on high voltage of -10 to 10 kv more than 50W. still not very "low" power.
IMUs are to o messy. How about using an optical fiber, where bending losses are measured for angle 'finding'. The fibre could have other benefits such as touch measurement ?
That is an option, but much more expensive, not commercially available for this use case, so more of an early stage research project endeavor...
@ All my trial with IMUs have been somewhat frustrating. I never tried them in this particular configuration and applications. But at low accelerations, the drift was always too much of an issue, even with well tuned Kalman filters. What type of IMU have you been using ? And I assume some form of magneto meter, telling from the small neodymium magnets on the joint ?
They could do this video by reverse engineering it and mixing it with their low voltage technology and also their electric clutch and covering it with a braided mesh tube th-cam.com/video/AQZGJlFntCE/w-d-xo.htmlsi=GrDmGXkdGAgWaJlr
I think if they copied the chimp'hand they would be better suited to conquering and destroying the feeble human..
what is the power density compared to a brushless dc with the same weight/volume?
looks tasty
5 million dollar robot
Banan
We did some of this work decades ago. Pressure sensors were used to provide 300KHz look-ahead BW feedback signals to a control system. Worked great. Hydraulic pressure waves are much faster than deformation waves. Used now all over the industry.
Bern, Switzerland - Dual Swiss/US citizen
Please show videos with load on the distal end
منو اجه بعد سنة☠️
Great content, as always! I need some advice: My OKX wallet holds some USDT, and I have the seed phrase. (alarm fetch churn bridge exercise tape speak race clerk couch crater letter). How should I go about transferring them to Binance?
Might be useful for teleoperation of robots.
How long before some LEO scales this up, and starts using drones to swoop in and snatch away protestors? How much does it cost to build at small scale? How much could Frank Wang charge the CCP for such a device at human scale?
This feels clever, because you have a "best practice" that you can study in the existing human hand structure. Sure, they might improve it for the materials they use, but our hands use rolling contact joints, ligaments, and even similar looping learned policies. Gives a GREAT model for when they run into problems. "Oh, we have an issue? how does a REAL human hand deal with it?" The closer their design is to a normal hand, the more useful this question is, basically.
What is the best way to apply reinforcement learning for soft robotics?
COOL
paper worker.
Only if it didn't work on electricity !
What would you like it to run on?
@@softroboticsHumans can function for a whole day on a large meal, so I've always been curious to see if we could make a machine emulate how biological systems eat and use chemical energy for power. Of course, it's not so simple in practice.
Why is electricity crammed into everything?
Can you elaborate on what you mean by crammed into? What would you be curious to see in terms of artificial muscle development?
Because most of our technology runs on it? Like the internet??
@@softrobotics For some context, there is a movement that's against making anything electronic or electrical. It spawned from people who are against electric cars.
this reminds me of the old Boston dynamic robots, it has so much potential
You are probably thinking of these cool robots? th-cam.com/users/results?search_query=leg+lab+mit+hopping+robot+boom
@@softrobotics correct
just make a perfect replica of a human hand, anatomically correct, and use different materials to make analogs for the tissue "tendons bones etc" trust me, nature already solved the mechanical form of the hand.
lmfaooo ok if its so easy why dont you do it?
so this only works when it's not constricted and flopping about. or placed in a massive housing as a linear actuator. cannot have dust or in high static environment. so, where exactly is this going into
Incredible idea!
What are those speeds in m/s, and can they be combined into a kind of capillary action?
At 5 Hz stimulation, it swims 111.6 mm/min, which is 0.00186 m/s. Check out the paper for the details: www.biorxiv.org/content/10.1101/2024.03.01.582738v1.full.pdf
@@softrobotics - Does the paper have any suggested use cases? P.s. It is going to be a struggle to get most TH-cam viewers to read a full scientific paper. We are here for the vids not the dry academic texts.
I am genuinely interested in the possibility of contributing to this innovative field. Could you let me know if there are opportunities to collaborate or join your research team? I have experience in biomimicry and biotechnology, and I believe I could add value to your project.
Pablo, What is the best way to contact you for advice on bio-reactors?
Please send us your application by email; see details at the bottom of this page of our website: srl.ethz.ch/open-positions.html
Fascinating stuff. Have you had any interest from any of the new humanoid start ups? Do you think that an improved ambidextrous design could become the improved default for most bots in the future?
Part of our lab's team has spun-off to build a robotics manipulation startup: www.mimicrobotics.com
We should not rely on electricity, other technologies must be developed.
What technologies would you like to see getting developed?
@@softroboticsoptical actuators that use laser energy in optic fibres for sensing, computation and mechanical actuation. If the centralised laser source is a fiber laser that can cut steel it should be able to boil enough water to make a robot finger wiggle. Not because we need to, but because it would be really, really cool.
Very many, the most important of these technologies are pneumatic and mechanical computing and electronics-free control, hydraulic/air sensing, fluidic amplifier, interaction between ( mechanics, light, and chemistry ), mechanical heating without electricity, miniturize the mechanical system. Thank you 🌹🌹
600V is low voltage???
Typically, electrohydraulic actuators require 6-10kV to generate sufficient forces. Here, we introduced new dielectrics to significantly reduce the driving voltage to 400-1100V, with the main benefit that at that range, various small-scale and cheap electric components are available.
amperage is what matters
@@robertkatzschmann1390You can operate and control it in a simpler and more efficient way without electricity.
@@yakut9876 What do you suggest?
thx for shareing - very appreciated
Excellent
Thank you, glad you like it.
Amazing research and implementation, thanks for sharing!
That is really a fascinating approach! You just made me think, its not as if birds fly continuously, they take breaks or benefit from the areo-dynamics of a working together in a configuration. Amazing work!
Is this design open source 😮
This is SO COOL!!!! I'm a student rn trying to study this stuff because i want to go into the field of bio-mechanical engineering and help with stuff like this!!!!!!! I've found your video to be very helpful tysm!
what is the muscular cell density in the bioink, compared to the soft tissue in vivo? a few percent? then, how relevant is the lab-grown physiology to native tissue?
منو اجة بعد سنه ☠️
Living tissue over a hyperalloy endeo skeleton combat chassis.
I wish this awesome technology could be used on upper limb prosthetics, as they are not really helpful and advanced now.
Wow that's a first time I find so structurend and well explained video about robots in Omniverse. NVIDIA official videos are so bad
agreed
Well this is a real new concept to me and I really thankfult for this video. I feel this is a reall promising concept. Thank you for makeing this video
Is strong enough to lift weight like 20kg?.
Very thorough, and you're not trying to claim miraculous results from subpar research. Well done, this is very interesting technology!
Very cool work, in the future robots will be able to "quantitatively" perceive.
mega!👌🏼
Been waiting for a post