Design, Manufacturing and Open-Loop Control of a Soft Pneumatic Arm: Conclusions
18 Feb 2025
PAUL, a modular soft robotic arm, demonstrates high flexibility, adaptability, and load-carrying capabilities.
Evaluating PAUL’s Weight Carrying Capacity and Kinematic Model Performance
18 Feb 2025
PAUL’s weight-carrying experiments reveal its ability to handle up to 155g while maintaining an average error of 5.11 to 10.01mm.
Design, Manufacturing and Open-Loop Control of a Soft Pneumatic Arm: Bending Experiments
15 Feb 2025
PAUL’s bending experiments demonstrate its ability to deflect up to 40° per segment, even with additional modules.
Soft Robots and Smart Movement
15 Feb 2025
PAUL’s table-based kinematic model achieves an average positioning error of 4.27 mm for direct kinematics and 10.78 mm for inverse kinematics.
How a Soft Robot Arm Moves Using Air, Not Motors
15 Feb 2025
The PAUL soft robotic arm consists of three identical pneumatic segments, balancing flexibility and structural integrity.
Why PAUL Needs a Massive Dataset to Improve Its Movements
14 Feb 2025
PAUL’s movement is modeled using dataset-driven kinematics. Inflation times are recorded with position and orientation data.
How PAUL the Robot Tracks Its Own Movements Using Cameras and LEDs
14 Feb 2025
PAUL’s vision-based tracking system uses dual Spedal AF926H cameras, a checkerboard calibration grid, and a 3D-printed LED trihedron beacon.
How PAUL, a Soft Robot, is Designed and Built
14 Feb 2025
PAUL is a modular soft robot designed with pneumatic actuation, featuring silicone segments and 3D printed connectors.
Designing PAUL: A Soft Robot with Pneumatic Precision
13 Feb 2025
PAUL is a modular soft robot designed with pneumatic actuation, featuring silicone segments and 3D printed connectors.