Related papers: Robotic design choice overview using co-simulation
This paper establishes a general framework for describing hybrid dynamical systems which is particularly suitable for numerical simulation. In this context, the data structures used to describe the sets and functions which comprise the…
Soft growing robots, commonly referred to as vine robots, have demonstrated remarkable ability to interact safely and robustly with unstructured and dynamic environments. It is therefore natural to exploit contact with the environment for…
It is essential to find new ways of enabling experts in different disciplines to collaborate more efficient in the development of ever more complex systems, under increasing market pressures. One possible solution for this challenge is to…
The design (shape) of a robot is usually decided before the control is implemented. This might limit how well the design is adapted to a task, as the suitability of the design is given by how well the robot performs in the task, which…
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…
Several design parameters in collective robotic systems have been investigated and developed in order to explore the cooperation among the autonomous robotic individuals in a variety of robotic swarms in the presence of different internal…
Discrete choice models (DCMs) have been widely utilized in various scientific fields, especially economics, for many years. These models consider a stochastic environment influencing each decision maker's choices. Extensive research has…
Soft robots promise inherent safety via their material compliance for seamless interactions with humans or delicate environments. Yet, their development is challenging because it requires integrating materials, geometry, actuation, and…
Distributed model predictive control (DMPC) is a flexible and scalable feedback control method applicable to a wide range of systems. While the stability analysis of DMPC is quite well understood, there exist only limited implementation…
Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases.…
Precise kinematic modeling is critical in calibration and controller design for soft robots, yet remains a challenging issue due to their highly nonlinear and complex behaviors. To tackle the issue, numerous data-driven machine learning…
Collaborative decision-making is an essential capability for multi-robot systems, such as connected vehicles, to collaboratively control autonomous vehicles in accident-prone scenarios. Under limited communication bandwidth, capturing…
Co-designing a robot's morphology and control can ensure synergistic interactions between them, prevalent in biological organisms. However, co-design is a high-dimensional search problem. To make this search tractable, we need a systematic…
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…
This work investigates an application-driven co-design problem where the motion and motors of a six degrees of freedom robotic manipulator are optimized simultaneously, and the application is characterized by a set of tasks. Unlike the…
In this paper, we address the development of a robotic rehabilitation system for the upper limbs based on collaborative end-effector solutions. The use of commercial collaborative robots offers significant advantages for this task, as they…
Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…
So far there have been several efforts for developing software process simulators. However, the approaches for developing the simulators seem to have been ad-hoc and no systematic methodology exists. Since modeling and simulation in support…
Replicating and surpassing the autonomy of natural organisms remains a long-standing goal in robotics. Yet most robotic systems have their structure, materials, and control designed separately, in sharp contrast to the co-evolution in…
Human-robot collaboration (HRC) is an emerging trend of robotics that promotes the co-presence and cooperation of humans and robots in common workspaces. Physical vicinity and interaction between humans and robots, combined with the…