Related papers: Towards Dynamic Simulation Guided Optimal Design o…
Sliding tasks performed by aerial robots are valuable for inspection and simple maintenance tasks at height, such as non-destructive testing and painting. Although various end-effector designs have been used for such tasks, non-actuated…
Plastic deformation In crystalline materials is controlled by the motion and interactions of dislocations [AND 17]. Discrete Dislocation Dynamics (DDD) simulations have now existed for about 25 years to investigate plastic flow at the…
In this research report details of design of a miniature wheel arrangement are presented. This miniature wheel arrangement is essentially a direction control mechanism intended for use on a mobile robot platform or base. The design is a…
This paper presents a novel technique that allows for both computationally fast and sufficiently plausible simulation of vehicles with non-deformable tracks. The method is based on an effect we have called Contact Surface Motion. A…
Small-scale autonomous vehicle platforms provide a cost-effective environment for developing and testing advanced driving systems. However, specific configurations within this scale are underrepresented, limiting full awareness of their…
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…
Magnetic navigation systems, including magnetic tracking systems and magnetic actuation systems, have shown great potential for occlusion-free localization and remote control of intracorporeal medical devices and robots in minimally…
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…
This paper presents a new method for modelling the dynamic behaviour of developable ribbons, two dimensional strips with much smaller width than length. Instead of approximating such surface with a general triangle mesh, we characterize it…
Obtaining dynamic models of continuum soft robots is central to the analysis and control of soft robots, and researchers have devoted much attention to the challenge of proposing both data-driven and first-principle solutions. Both avenues…
Micromobility, which utilizes lightweight mobile machines moving in urban public spaces, such as delivery robots and mobility scooters, emerges as a promising alternative to vehicular mobility. Current micromobility depends mostly on human…
Surgical robot simulation platform plays a crucial role in enhancing training efficiency and advancing research on robot learning. Much effort have been made by scholars on developing open-sourced surgical robot simulators to facilitate…
The manual design of soft robots and their controllers is notoriously challenging, but it could be augmented---or, in some cases, entirely replaced---by automated design tools. Machine learning algorithms can automatically propose, test,…
Rapid robotic system development sets a demand for multi-disciplinary methods and tools to explore and compare design alternatives. In this paper, we present collaborative modeling that combines discrete-event models of controller software…
Designing an exoskeleton to reduce the risk of low-back injury during lifting is challenging. Computational models of the human-robot system coupled with predictive movement simulations can help to simplify this design process. Here, we…
Soft robotic manipulators are attractive for a range of applications such as medical interventions or industrial inspections in confined environments. A myriad of soft robotic manipulators have been proposed in the literature, but their…
In this review we discuss the recent progress in the simulation of soft active matter systems and in particular the hydrodynamics of microswimmers using the method of multiparticle collision dynamics, which solves the hydrodynamic flows…
This work provides a complete framework for the simulation, co-optimization, and sim-to-real transfer of the design and control of soft legged robots. The compliance of soft robots provides a form of "mechanical intelligence" -- the ability…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…
For robot manipulation, both the controller and end-effector design are crucial. Soft grippers are generalizable by deforming to different geometries, but designing such a gripper and finding its grasp pose remains challenging. In this…