Related papers: Cable-Driven Actuation for Highly Dynamic Robotic …
Wearable robots are limited by their actuators performances because they must bear the weight of their own power system and energy source. This paper explores the idea of leveraging hybrid modes to meet multiple operating points with a…
Legged manipulators extend robotic capabilities beyond static manipulation by integrating agile locomotion with versatile arm control. However, achieving precise manipulation while maintaining coordinated locomotion remains a major…
Pneumatically-actuated anthropomorphic robots with high degrees of freedom (DOF) offer significant potential for physical human-robot interaction. However, precise control of pneumatic actuators is challenging due to their inherent…
Robotic arms built from stiffness-adjustable, continuously bending segments serially connected with revolute joints have the ability to change their mechanical architecture and workspace, thus allowing high flexibility and adaptation to…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
This paper introduces a novel and general method to address the problem of using a general-purpose robot manipulator with a parallel gripper to wrap a deformable linear object (DLO), called a rope, around a rigid object, called a rod,…
Control of wire-borne underactuated brachiating robots requires a robust feedback control design that can deal with dynamic uncertainties, actuator constraints and unmeasurable states. In this paper, we develop a robust feedback control for…
This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is optimised. In many works, these simplified…
Exoskeleton robots have become a promising tool in neurorehabilitation, offering effective physical therapy and recovery monitoring. The success of these therapies relies on precise motion control systems. Although computed torque control…
While most insect-inspired robots come with a simple tarsus such as a hemispherical foot tip, insect legs have complex tarsal structures and claws, which enable them to walk on complex terrain. Their sharp claws can smoothly attach and…
In the field of architecture, early detection of damage or degradation of building facades has become increasingly vital due to the need for continuous monitoring of structural integrity. Traditional methods, such as visual inspections, are…
Taking inspiration from the crawling motion of biological cells on a substrate, we consider a physical model of self-propulsion where the spatio-temporal driving can involve both, a mechanical actuation by active force couples, and a…
We study the problem of learning to perform multi-stage robotic manipulation tasks, with applications to cable routing, where the robot must route a cable through a series of clips. This setting presents challenges representative of complex…
This work explores an innovative algorithm designed to enhance the mobility of underactuated bipedal robots across challenging terrains, especially when navigating through spaces with constrained opportunities for foot support, like steps…
To reproduce natural standing-up motion, recent studies have emphasized the importance of coordination between the assisting robot and the human. However, many non-wearable assistive devices have struggled to replicate natural motion…
Automatic assembly lines have increasingly replaced human labor in various tasks; however, the automation of Flexible Flat Cable (FFC) insertion remains unrealized due to its high requirement for effective feedback and dynamic operation,…
Legged robots are promising candidates for exploring challenging areas on low-gravity bodies such as the Moon, Mars, or asteroids, thanks to their advanced mobility on unstructured terrain. However, as planetary robots' power and thermal…
In contrast with the diversity of materials found in nature, most robots are designed with some combination of aluminum, stainless steel, and 3D-printed filament. Additionally, robotic systems are typically assumed to follow basic…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
This paper explores the design strategies for hybrid pole- or trunk-climbing robots, focusing on methods to inform design decisions and assess metrics such as adaptability and performance. A wheeled-grasping hybrid robot with modular,…