UC Santa Barbara

Beginning in the second half of the 20th century, robots have played a growing role in numerous manufacturing sectors. As we move toward the second quarter of the 21st century, robots are still primarily in the factory, with few successful attempts to address new applications outside the factory -- in less structured environments that require close interaction with humans. In the past decade, soft robotics has emerged as a potential alternative design direction due to its inherent safety and embodied intelligence, but its reduction to practice on a commercial scale has been limited, in part due to the nonlinearity and associated control complexity of soft systems. In this work, we seek to advance the performance of soft robots via insights gained from analytical and data-driven modeling efforts, which enable new design and control capabilities.

We begin by first seeking to understand the fundamental behaviors various soft robotic systems. In Chapter 2, we develop closed-form models of "vine robots," a type of soft, growing robot that changes length by adding material to its tip and their interactions with the environment. Next, we leverage those insights to design novel mechanisms that overcome performance limitations in Chapter 3,developing a novel mechanism that enables vine robots to access larger workspaces.

We then turn to data-driven modeling, leveraging a modern modeling technique to gain physical insights from a continuum soft arm performing dynamic tasks. In Chapter 4, we apply this method to enable accurate control of two soft robot arms in new regimes, controlling inertial motions that allow a soft arm to both catch and throw a ping pong ball.

Finally, in Chapter 5, we describe the culminating work aimed at translating soft robotics to broad commercial application, as we develop the world's first soft robotic intubation system that enables life-saving, expert-level performance in novice hands. While there is yet more work to be done, this body of scientific knowledge will help set the groundwork to advance soft systems into everyday life.