Chapter 21 — Actuators for Soft Robotics

VSA-CubeBot - Peg in hole

VSA-CubeBot performing an assembly task. It consists in inserting a chamfered 29.5 mm diameter cylindrical peg in a 30 mm diameter round hole. The task is performed using only inexpensive position sensors, without force measurements, by exploiting the intrinsic mechanical elasticity of the variable impedance actuation units.
Centro di Ricerca "E. Piaggio"