Search research articles

ABOUT JoVE

Overview Leadership Blog JoVE Help Center

AUTHORS

Publishing Process Editorial Board Scope & Policies Peer Review FAQ Submit

LIBRARIANS

Testimonials Subscriptions Access Resources Library Advisory Board FAQ

RESEARCH

JoVE Journal Methods Collections JoVE Encyclopedia of Experiments Archive

EDUCATION

JoVE Core JoVE Business JoVE Science Education JoVE Lab Manual Faculty Resource Center Faculty Site

Terms & Conditions of Use

Related Concept Videos

Planar Rigid-Body Motion

Planar Rigid-Body Motion

Understanding the movement of a rigid body in planar motion involves recognizing that every particle within this body is traversing a path that maintains a consistent distance from a specific plane. This concept is fundamental in the study of physics and mechanical engineering, and it allows us to comprehend better how objects move in space.
Planar motion is typically divided into three distinct categories. The first is rectilinear translation, demonstrated by a subway train that moves along...

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by

Same author

Emergent and controllable behaviors of Janus swarmalator collectives.

Nature communications·2026

Same author

Kernel Reboot: Breaking the Boundaries of Neural Tangent Kernels for Neural Fields.

IEEE transactions on pattern analysis and machine intelligence·2026

Same author

General oblique projections for model reduction via spectral submanifolds.

Chaos (Woodbury, N.Y.)·2026

Same author

Description of a collaborative sperm whale birth and shifts in coda vocal styles during key events.

Scientific reports·2026

Same author

Cooperation by non-kin during birth underpins sperm whale social complexity.

Science (New York, N.Y.)·2026

Same author

A general soft robotic controller inspired by neuronal structural and plastic synapses that adapts to diverse arms, tasks, and perturbations.

Science advances·2026

Same journal

Dynamic-Based Path Planning and Locomotion of Tensegrity Robots Considering Environmental Interaction.

Soft robotics·2026

Same journal

A Soft Magnetic Jamming Method Enabling Variable Stiffness and Active Steering for Robotic Catheter.

Soft robotics·2026

Same journal

Research on the Design of Variable Stiffness Adhesive Feet and Cooperative Crawling Mechanism for Soft Bionic Gecko-Inspired Wall-Climbing Robots.

Soft robotics·2026

Same journal

Bioinspired Swallowing Soft Gripper with Toroidal Optical Waveguides for Multimodal Interactive Perception.

Soft robotics·2026

Same journal

Plant-Inspired Elastic-Hydraulic Tactile Sensing Enables Quantitative Stiffness Estimation in Soft Robots.

Soft robotics·2026

Same journal

Ultrastable Soft Capacitive Tactile Sensor with Impedance-Modulated Signal.

Soft robotics·2026

See all related articles

Search research articles

Related Experiment Video

Updated: Mar 15, 2026

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping

Published on: April 21, 2023

Autonomous Object Manipulation Using a Soft Planar Grasping Manipulator.

Robert K Katzschmann¹, Andrew D Marchese¹, Daniela Rus¹

¹Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology , Cambridge, Massachusetts.

|September 15, 2016

Summary

This summary is machine-generated.

This study introduces an autonomous motion planning algorithm for soft robotic manipulators, enabling precise grasp-and-place operations even with uncertain object positions and shapes. The system uses a novel, seamless end effector for reliable manipulation.

More Related Videos

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Published on: November 14, 2015

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation

Published on: August 2, 2016

Related Experiment Videos

Last Updated: Mar 15, 2026

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping

Published on: April 21, 2023

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Published on: November 14, 2015

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation

Published on: August 2, 2016

Area of Science:

Robotics
Autonomous Systems
Materials Science

Background:

Soft robotic manipulators offer unique advantages in handling delicate or irregularly shaped objects.
Existing manipulation systems often struggle with uncertainty in object pose and shape.
Seamless end-effector fabrication is crucial for manipulator durability and performance.

Purpose of the Study:

To develop an autonomous motion planning algorithm for a soft planar grasping manipulator.
To enable reliable grasp-and-place operations despite object position and shape uncertainties.
To demonstrate the system's capabilities through experimental validation.

Main Methods:

Development of a novel, one-piece end effector using lost-wax casting.
Implementation of an autonomous motion planning algorithm.
Leveraging manipulator compliance and continuum bending for robust grasping.
Experimental validation of the grasp-and-place system.

Main Results:

The soft manipulator successfully performed autonomous grasp-and-place operations.
The system demonstrated robustness in handling objects with uncertain positions and shapes.
The lost-wax casting method resulted in a durable, seamless end effector.
Repeatable grasps were achieved by utilizing the manipulator's inherent compliance.

Conclusions:

The developed autonomous motion planning algorithm enhances the capabilities of soft manipulators.
The novel fabrication method and planning strategy enable reliable manipulation under uncertainty.
This work paves the way for more versatile and autonomous soft robotic systems.