Related papers: Hydraulic-Assist Driver for Compact Insertion Devi…
In the compact variable-gap undulator with Hydraulic-Assist Driver, miniature hydraulic cylinders compensate for ~90% of magnetic forces and mechanical actuators are used to accurately control the undulator gap. This method of hydraulic…
Following successful proof-of-concept experiments, we constructed compact varying-gap undulator with Hydraulic-Assist Driver. The 1.5m long undulator features a pure permanent magnet structure, period of 28.4 mm and a minimum gap of 6.75mm.…
System Identification of Hydraulic Actuators is critical for analyzing their performance and designing a suitable Control System. Hydraulic actuators are extensively used in many applications, ranging from flight simulators, robotics,…
Stiffness variation and real-time position feedback are critical for any robotic system but most importantly for active and wearable devices to interact with the user and environment. Currently, for compact sizes, there is a lack of…
Developing kinesthetic haptic devices with advanced haptic rendering capabilities is challenging due to the limitations on driving mechanisms. In this study, we introduce a novel soft electrohydraulic actuator and develop a kinesthetic…
Heavy-duty operations, typically performed using heavy-duty hydraulic manipulators (HHMs), are susceptible to environmental contact due to tracking errors or sudden environmental changes. Therefore, beyond precise control design, it is…
In this paper a novel hybrid position/force control with autonomous switching between both control modes is introduced for hydraulic actuators. A hybrid position/force control structure with feed-forwarding, full-state feedback, including…
Insertion operations are a critical element of most robotic assembly operation, and peg-in-hole (PiH) insertion is one of the most widely studied tasks in the industrial and academic manipulation communities. PiH insertion is in fact an…
We describe a fluidic actuator design that replaces the sealed chamber of a hydraulic cylinder using a soft actuator to provide compliant linear compression with a large force ($\geq$100 N) at a low operation pressure ($\leq$50 kPa) for a…
Drilling a hole on a curved surface with a desired angle is prone to failure when done manually, due to the difficulties in drill alignment and also inherent instabilities of the task, potentially causing injury and fatigue to the workers.…
Hydraulic systems are widely utilized in industrial applications due to their high force generation, precise control, and ability to function in harsh environments. Hydraulic cylinders, as actuators in these systems, apply force and…
We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…
Stable aerial manipulation during dynamic tasks such as object catching, perching, or contact with rigid surfaces necessarily requires compliant behavior, which is often achieved via impedance control. Successful manipulation depends on how…
This paper presents a design methodology of a hydraulically-driven soft robotic gripper for grasping a large and heavy object -- approximately 10 - 20 kg with 20 - 30 cm diameter. Most existing soft grippers are pneumatically actuated with…
This paper introduces a novel physics-informed impact identification (Phy-ID) framework. The proposed method integrates observational, inductive, and learning biases to combine physical knowledge with data-driven inference in a unified…
Force control enables hands-on teaching and physical collaboration, with the potential to improve ergonomics and flexibility of automation. Established methods for the design of compliance, impedance control, and \rev{collision response}…
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…
Attaching a heavy payload to the wrist force/moment (F/M) sensor of a manipulator can cause conventional impedance controllers to fail in establishing the desired impedance due to the presence of non-contact forces; namely, the inertial and…
This paper presents design, fabrication and control of a compliant 2D manipulator, a so called soft actuator. Our focus is on fiber-reinforced elastomer actuators driven by a constant pressure hydraulic supply and modulated on/off valves.…
Soft grippers are receiving growing attention due to their compliance-based interactive safety and dexterity. Hybrid gripper (soft actuators enhanced by rigid constraints) is a new trend in soft gripper design. With right structural…