Related papers: Automatic Design of Task-specific Robotic Arms

In this paper we will explore different available methodologies to automatically design controllers for tasks that spans many level of abstraction, where the gap between primitive behaviours and the task definition is high. A good…

Robotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures…

This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…

Our goal is to make robotics more accessible to casual users by reducing the domain knowledge required in designing and building robots. Towards this goal, we present an interactive computational design system that enables users to design…

Lengthy setup processes that require robotics expertise remain a major barrier to deploying robots for tasks involving high product variability and small batch sizes. As a result, collaborative robots, despite their advanced sensing and…

This paper introduces a methodology for task-specific design optimization of multirotor Micro Aerial Vehicles. By leveraging reinforcement learning, Bayesian optimization, and covariance matrix adaptation evolution strategy, we optimize…

This work adds on to the on-going efforts to provide more autonomy to space robots. Here the concept of programming by demonstration or imitation learning is used for trajectory planning of manipulators mounted on small spacecraft. For…

Behavior is characterized by sequences of goal-oriented conducts, such as food uptake, socializing and resting. Classically, one would define for each task a corresponding satisfaction level, with the agent engaging, at a given time, in the…

Performing trajectory design for humanoid robots with high degrees of freedom is computationally challenging. The trajectory design process also often involves carefully selecting various hyperparameters and requires a good initial guess…

Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…

In this paper we present a framework that allows the motion control of a robotic arm automatically handling different kinds of safety-related tasks. The developed controller is based on a Task-Priority Inverse Kinematics algorithm that…

The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves.…

Robots are increasingly deployed across diverse domains and designed for multi-purpose operation. As robotic systems grow in complexity and operate in dynamic environments, the need for structured, expressive, and scalable…

The control architecture of autonomous robots can be developed by programming and integrating multiple software components that individually control separate behaviors. This approach requires additional mechanisms to coordinate their…

The development of robot control programs is a complex task. Many robots are different in their electrical and mechanical structure which is also reflected in the software. Specific robot software environments support the program…

Automatic off-line design is an attractive approach to implementing robot swarms. In this approach, a designer specifies a mission for the swarm, and an optimization process generates suitable control software for the individual robots…

This work proposes a novel generative design tool for passive grippers -- robot end effectors that have no additional actuation and instead leverage the existing degrees of freedom in a robotic arm to perform grasping tasks. Passive…

Described here is a simple, reliable, and quite general method for rapid computation of robot arm inverse kinematic solutions and motion path plans in the presence of complex obstructions. The method derived from the MSC (map-seeking…

This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motion. To optimize the design for different scenarios, we select…

This paper presents the design, control, and applications of a multi-segment soft robotic arm. In order to design a soft arm with large load capacity, several design principles are proposed by analyzing two kinds of buckling issues, under…