Related papers: Six Degree of Freedom Robotic Arm with Mimicking M…
Modern humanoid robots have shown their promising potential for executing various tasks involving the grasping and manipulation of objects using their end-effectors. Nevertheless, in the most of the cases, the grasping and manipulation…
This study proposes a novel robotic gripper with variable grasping configurations for grasping various objects. The fingers of the developed gripper incorporate multiple different surfaces. The gripper possesses the function of altering the…
In robotic surgery, the surgeon controls robotic instruments using dedicated interfaces. One critical limitation of current interfaces is that they are designed to be operated by only the hands. This means that the surgeon can only control…
Compared to traditional rigid robotics, soft robotics has attracted increasing attention due to its advantages as compliance, safety, and low cost. As an essential part of soft robotics, the soft robotic gripper also shows its superior…
The intricate kinematics of the human hand enable simultaneous grasping and manipulation of multiple objects, essential for tasks such as object transfer and in-hand manipulation. Despite its significance, the domain of robotic multi-object…
The topic of this final qualification work was chosen due to the importance of developing robotic systems designed to assist people with disabilities. Advances in robotics and automation technologies have opened up new prospects for…
This article proposes a mobile quad-arm robot: ARMS, which unifies wheeled-legged tripedal locomotion, wheeled locomotion, and quad-arm loco-manipulation. ARMS's four arms have different mechanisms and are partially designed to be…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
Soft robotic manipulators with many degrees of freedom can carry out complex tasks safely around humans. However, manufacturing of soft robotic hands with several degrees of freedom requires a complex multi-step manual process, which…
For the majority of tasks performed by traditional serial robot arms, such as bin picking or pick and place, only two or three degrees of freedom (DOF) are required for motion; however, by augmenting the number of degrees of freedom,…
We address a class of manipulation problems where the robot perceives the scene with a depth sensor and can move its end effector in a space with six degrees of freedom -- 3D position and orientation. Our approach is to formulate the…
Robot learning is often simplified to planar manipulation due to its data consumption. Then, a common approach is to use a fully-convolutional neural network to estimate the reward of grasp primitives. In this work, we extend this approach…
This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system…
In this paper we explore state-of-the-art underactuated, compliant robot gripper designs through looking at their performance on a generic grasping task. Starting from a state of the art open gripper design, we propose design…
Human manipulation skills represent a pinnacle of their voluntary motor functions, requiring the coordination of many degrees of freedom and processing of high-dimensional sensor input to achieve remarkable dexterity. Thus, we set out to…
We present a new approach to robot hand design specifically suited for successfully implementing robot learning methods to accomplish tasks in daily human environments. We introduce BaRiFlex, an innovative gripper design that alleviates the…
This article presents a collaborative research effort aimed at developing a novel six-degree-of-freedom (6-DOF) motion platform for the empirical characterization of hydrodynamic forces crucial for the control and stability of surface and…
High-speed and high-acceleration movements are inherently hard to control. Applying learning to the control of such motions on anthropomorphic robot arms can improve the accuracy of the control but might damage the system. The inherent…
Robotic arms, integral in domestic care for individuals with motor impairments, enable them to perform Activities of Daily Living (ADLs) independently, reducing dependence on human caregivers. These collaborative robots require users to…
While parallel grippers and multi-fingered robotic hands are well developed and commonly used in structured settings, it remains a challenge in robotics to design a highly articulated robotic hand that can be comparable to human hands to…