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This paper describes the design of a multi-camera optical tactile sensor that provides information about the contact force distribution applied to its soft surface. This information is contained in the motion of spherical particles spread…
The Automated Contact Angle Tester (ACAT) is a fully integrated robotic work cell developed to automate the measurement of surface wettability on 3D-printed materials. Designed for precision, repeatability, and safety, ACAT addresses the…
Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a…
There is a growing need for soft robotic platforms that perform gentle, precise handling of a wide variety of objects. Existing surface-based manipulation systems, however, lack the compliance and tactile feedback needed for delicate…
The periodic inspection of vessels is a fundamental task to ensure their integrity and avoid maritime accidents. Currently, these inspections represent a high cost for the ship owner, in addition to the danger that this kind of hostile…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
Robotic packaging using wrapping paper poses significant challenges due to the material's complex deformation properties. The packaging process itself involves multiple steps, primarily categorized as folding the paper or creating creases.…
The ability of a soft robot to perform specific tasks is determined by its contact configuration, and transitioning between configurations is often necessary to reach a desired position or manipulate an object. Based on this observation, we…
This paper investigates the direct application of standardized designs on the robot for conducting robot hand-eye calibration by employing 3D scanners with collaborative robots. The well-established geometric features of the robot flange…
Soft robots can safely interact with environments because of their mechanical compliance. Self-collision is also employed in the modern design of soft robots to enhance their performance during different tasks. However, developing an…
Flexible manufacturing systems in Industry 4.0 require robots capable of handling objects in unstructured environments without rigid positioning constraints. This paper presents a computer vision system that enables industrial robots to…
Developing robotic manipulation policies is iterative and hypothesis-driven: researchers test tactile sensing, gripper geometries, and sensor placements through real-world data collection and training. Yet even minor end-effector changes…
In recent years, the integration of additive manufacturing (AM) and industrial robotics has opened new perspectives for the production of complex components, particularly in the automotive sector. Robot-assisted additive manufacturing…
In this paper, a method is presented for lowering the energy consumption and/or increasing the speed of a standard manipulator spray painting a surface. The approach is based on the observation that a small angle between the spray direction…
Modern robots can perform a wide range of simple tasks and adapt to diverse scenarios in the well-trained environment. However, deploying pre-trained robot models in real-world user scenarios remains challenging due to their limited…
Electric vehicles (EV) create an urgent need for scalable battery recycling, yet disassembly of EV battery packs remains largely manual due to high design variability. We present our Robotic Agentic Platform for Intelligent Disassembly…
In the pursuit of sustainable manufacturing, ultra-short pulse laser micromachining stands out as a promising solution while also offering high-precision and qualitative laser processing. However, unlocking the full potential of ultra-short…
This paper provides a novel approach to stitching surface images of rotationally symmetric parts. It presents a process pipeline that uses a feature-based stitching approach to create a distortion-free and true-to-life image from a video…
Obtaining dynamic models of continuum soft robots is central to the analysis and control of soft robots, and researchers have devoted much attention to the challenge of proposing both data-driven and first-principle solutions. Both avenues…
This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…