Related papers: Automatic Design of Task-specific Robotic Arms
Advances in eye-tracking control for assistive robotic arms provide intuitive interaction opportunities for people with physical disabilities. Shared control has gained interest in recent years by improving user satisfaction through partial…
This paper presents a simple and effective method for setting parameters for an input shaper to suppress the residual vibrations in flexible robot arms using a data-driven approach. The parameters are adaptively tuned in the workspace of…
In this paper we apply a model-driven engineering approach to designing domain-specific solutions for robot control system development. We present a case study of the complete process, including identification of the domain meta-model,…
The human shoulder, with its glenohumeral joint, tendons, ligaments, and muscles, allows for the execution of complex tasks with precision and efficiency. However, current robotic shoulder designs lack the compliance and compactness…
Despite advances in dexterous hand manipulation, robotic hand design is still largely decoupled from task-driven evaluation and control, limiting systematic optimization. Existing robotic hand co-design approaches are often limited in…
Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with…
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However,…
Aerial robotic arms aim to enable inspection and environment interaction in otherwise hard-to-reach areas from the air. However, many aerial manipulators feature bulky or heavy robot manipulators mounted to large, high-payload aerial…
This paper presents a novel concept for intuitive end-user programming of robots, inspired by natural interaction between humans. Natural language and supportive gestures are translated into robot programs using large language models (LLMs)…
Fast and precise robot motion is needed in certain applications such as electronic manufacturing, additive manufacturing and assembly. Most industrial robot motion controllers allow externally commanded motion profile, but the trajectory…
Multi-degree of freedom robots are playing very important role in different applications of automation. They are providing much more accuracy in carrying out a typical procedure as compared to the manual work done by human. In recent years…
Specifying tasks for robotic systems traditionally requires coding expertise, deep domain knowledge, and significant time investment. While learning from demonstration offers a promising alternative, existing methods often struggle with…
Robots are widely used in industry due to their efficiency and high accuracy in performance. One of the most intriguing issues in manufacturing stage of production line is to minimize significantly high percentage of energy consumed by…
The range of robot activities is expanding from industries with fixed environments to diverse and changing environments, such as nursing care support and daily life support. In particular, autonomous construction of robots that are…
Robot design has traditionally been costly and labor-intensive. Despite advancements in automated processes, it remains challenging to navigate a vast design space while producing physically manufacturable robots. We introduce Text2Robot, a…
We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…
The paper presents a planner to generate walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot. The interaction between the robot and the walking surface is modeled explicitly via new conditions,…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
Forward and inverse kinematics models are fundamental to robot arms, serving as the basis for the robot arm's operational tasks. However, in model learning of robot arms, especially in the presence of redundant degrees of freedom, inverse…
Autonomous robotic arm manipulators have the potential to make planetary exploration and in-situ resource utilization missions more time efficient and productive, as the manipulator can handle the objects itself and perform goal-specific…