TY - GEN
T1 - EViper-2D
T2 - 2025 IEEE International Conference on Robotics and Automation, ICRA 2025
AU - Cheng, Hsin
AU - Veilleux, Elias
AU - Zheng, Zhiwu
AU - Wagner, Sigurd
AU - Verma, Naveen
AU - Sturm, James Christopher
AU - Chen, Minjie
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - This paper presents the key principles of eViper-2D - a thin large-area soft robotics platform - as a new development of the previous extendable Vibrating Intelligent Piezo-Electric Robot (eViper) platform. We first introduce the mechanical, electrical, and control framework of eViper-2D, and then develop systematic and scalable methods to study the impact of diverse actuation patterns on robotic motion dynamics and energy efficiency. By integrating power electronics, communication circuits, piezoelectric actuators, and batteries onboard, the eViper-2D platform enables rapid design iteration and quick evaluation of different control strategies for the multi-actuator soft robot. The platform supports data-driven modeling via automated data acquisition. We show that eViper-2D can provide rich insights into optimizing actuation patterns to achieve agile motion and minimal cost of transport (COT).
AB - This paper presents the key principles of eViper-2D - a thin large-area soft robotics platform - as a new development of the previous extendable Vibrating Intelligent Piezo-Electric Robot (eViper) platform. We first introduce the mechanical, electrical, and control framework of eViper-2D, and then develop systematic and scalable methods to study the impact of diverse actuation patterns on robotic motion dynamics and energy efficiency. By integrating power electronics, communication circuits, piezoelectric actuators, and batteries onboard, the eViper-2D platform enables rapid design iteration and quick evaluation of different control strategies for the multi-actuator soft robot. The platform supports data-driven modeling via automated data acquisition. We show that eViper-2D can provide rich insights into optimizing actuation patterns to achieve agile motion and minimal cost of transport (COT).
UR - https://www.scopus.com/pages/publications/105016627487
UR - https://www.scopus.com/pages/publications/105016627487#tab=citedBy
U2 - 10.1109/ICRA55743.2025.11128737
DO - 10.1109/ICRA55743.2025.11128737
M3 - Conference contribution
AN - SCOPUS:105016627487
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 15336
EP - 15342
BT - 2025 IEEE International Conference on Robotics and Automation, ICRA 2025
A2 - Ott, Christian
A2 - Admoni, Henny
A2 - Behnke, Sven
A2 - Bogdan, Stjepan
A2 - Bolopion, Aude
A2 - Choi, Youngjin
A2 - Ficuciello, Fanny
A2 - Gans, Nicholas
A2 - Gosselin, Clement
A2 - Harada, Kensuke
A2 - Kayacan, Erdal
A2 - Kim, H. Jin
A2 - Leutenegger, Stefan
A2 - Liu, Zhe
A2 - Maiolino, Perla
A2 - Marques, Lino
A2 - Matsubara, Takamitsu
A2 - Mavromatti, Anastasia
A2 - Minor, Mark
A2 - O'Kane, Jason
A2 - Park, Hae Won
A2 - Park, Hae-Won
A2 - Rekleitis, Ioannis
A2 - Renda, Federico
A2 - Ricci, Elisa
A2 - Riek, Laurel D.
A2 - Sabattini, Lorenzo
A2 - Shen, Shaojie
A2 - Sun, Yu
A2 - Wieber, Pierre-Brice
A2 - Yamane, Katsu
A2 - Yu, Jingjin
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 19 May 2025 through 23 May 2025
ER -