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Teach soft robotics with the original content created by Compliance Robotics (distributed with Emio Labs). It provides a practical introduction to the concepts of soft robotics: models, inverse kinematics, pick & place, design, and closed loop.

Explore our GitHub repositories to access a comprehensive collection of labs and demos designed for Emio and the Emio Labs application.

In this page you will find a selection of labs and projects. Each lab is described with its recommended audience, and a short description. We are continuously working on new labs, projects and demos, so don't hesitate to check back regularly for updates or subscribe to our newsletter.

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Easily compose your labs and add your own content. Share your content for Emio with the community. Contact us to add your content to this page by sending an email at this address contact@compliance-robotics.com.

Lab - Models for Soft Robotics

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Author: Compliance Robotics
Recommended audience: Master's or PhD students in robotics, mechanical engineering, or related fields.
Distributed with the Emio Labs application

Discover and analyse different models. Discover the accuracy and limitation of continuum mechanics models.

This lab aims to familiarize with certain deformable models used in the soft robotics community, particularly beam models and volumetric finite element models. It briefly describe three models and provide references for a deeper understanding. This lab consist of understanding these models and their parameters, and experimentally analyzing their behavior. To do so, different legs with various geometries are provided with the robot. Each leg leading to different mechanical behaviors. You will be able to confront the models with the legs one by one.

Lab Models

🚀 Lab - Inverse Kinematics

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Author: Compliance Robotics
Recommended audience: Master's or PhD students in robotics, mechanical engineering, or related fields with experience in Python programming.
🚀 This lab features content that does not require the robot. Distributed with the Emio Labs application.

Explore the principles of inverse kinematics as applied to soft robots, and write your own inverse kinematic solver in python.

In this lab, you will explore the principles of inverse kinematics (IK) as applied to soft robots. The kinematics of soft robots has been, and continues to be, a subject of extensive scientific research. Here, the proposed approach relies on the computation of mechanical models that consider the material properties, specifically utilizing compliance projected into the space of actuators and end effectors. By the end of this lab, you will have a better understanding of the concept of mechanical compliance and the formulation of an optimization problem that allows to get the inverse kinematics from the mechanical compliance model of soft robots.

Lab Inverse Kinematics

Project - Pick & Place

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Author: Compliance Robotics
Recommended audience: Undergraduate students in robotics, mechanical engineering, or related fields.
Distributed with the Emio Labs application

Start from scratch, end up with a full deformable pick & place robot, and solve a pick and place task.

In this lab, we will test a simple pick & place example using a soft gripper attached to the robot's end-effector. This exercise aims to apply the concepts studied and reinforce the student understanding of inverse models in soft robotics by programming a complete pick & place cycle.

Project Pick & Place

🚀 Lab - Design

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Authors: Quentin Peyron & Compliance Robotics
Recommended audience: Undergraduate students in robotics, mechanical engineering, or related fields.
🚀 This lab features content that does not require the robot. Distributed with the Emio Labs application.

Quentin Peyron is currently a Researcher with INRIA, DEFROST Team, Lille, France. His research interests include the modeling, singularity analysis, design and control of deformable robots. He focuses in particular on the eco-design of soft parallel robots, which are promising candidates to tackle social and environmental challenges in robotics.

Design your own legs and gripper for Emio, and check their performance in simulation.

In this lab, we will work on the design of the flexible legs composing Emio such that a pick & place task can be realized. In particular, we aim at picking an object which is not reachable with the initial design of the robot. For that purpose, we propose you to follow an iterative and interactive design process where fast mechanical simulations are used to predict the system behavior and performances.

Lab Design

Lab - Closed Loop

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Author: Compliance Robotics
Recommended audience: Master's or PhD students in robotics, control engineering, or related fields.
Distributed with the Emio Labs application

Discover closed loop control strategies, from basic inverse kinematic proportional control, to state feedback plus observer.

This lab is dedicated to control. Its goals are to make you understand: - When and why a closed loop control scheme is required for a given application - What are the effects of the different parameters of the controller - The limitation of the proposed approach and what has to be done to overcome it - And finally give some insight of what could be achieved with more time.

Lab Closed Loop