Related papers: A Continuum Manipulator for Open-Source Surgical R…
The purpose of this research is to design, fabricate and test a tendon driven a continuum soft robot with three modular segments, each of which has a tunable stiffness enabled by layer jamming technology. Compared with previous studies, the…
Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulators in various settings. This often leads to suboptimal…
Experiments using large numbers of miniature swarm robots are desirable to teach, study, and test multi-robot and swarm intelligence algorithms and their applications. To realize the full potential of a swarm robot, it should be capable of…
This paper presents a unified algorithm for motion and force control for a six degree-of-freedom spatial manipulator. The motion-force controller performs trajectory tracking, maneuvering the manipulator's end-effector through desired…
Various 6-degree-of-freedom (DOF) and 7-DOF manipulators have been developed to date. Over a long history, their joint configurations and link length ratios have been determined empirically. In recent years, the development of robotic…
Computed Tomography (CT) image guidance enables accurate and safe minimally invasive treatment of diseases, including cancer and chronic pain, with needle-like tools via a percutaneous approach. The physician incrementally inserts and…
This article presents an open-source architecture for conveying robots' intentions to human teammates using Mixed Reality and Head-Mounted Displays. The architecture has been developed focusing on its modularity and re-usability aspects.…
We present the RBO Hand 3, a highly capable and versatile anthropomorphic soft hand based on pneumatic actuation. The RBO Hand 3 is designed to enable dexterous manipulation, to facilitate transfer of insights about human dexterity, and to…
In this paper we present an architecture for the operation of an assistive robot finally aimed at allowing users with severe motion disabilities to perform manipulation tasks that may help in daily-life operations. The robotic system, based…
Autonomous surgery involves having surgical tasks performed by a robot operating under its own will, with partial or no human involvement. There are several important advantages of automation in surgery, which include increasing precision…
Recent advances in robot learning have generated significant interest in capable platforms that may eventually approach human-level competence. This interest, combined with the commoditization of actuators, has propelled growth in low-cost…
Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…
Robotic assistance in minimally invasive surgery can greatly enhance surgical precision and reduce surgeon fatigue. This paper presents a focused investigation on the kinematic and ergonomic design principles for a laparoscopic surgical…
The automatic design of embodied agents (e.g. robots) has existed for 31 years and is experiencing a renaissance of interest in the literature. To date however, the field has remained narrowly focused on two kinds of anatomically simple…
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…
This work was conceived based on Project-Based Learning (ABP) and presents the design, development and mathematical modeling steps of a low-cost robotic manipulator with five degrees of freedom through an interdisciplinary project linking…
This paper introduces the Omnidirectional Tractable Three Module Robot for traversing inside complex pipe networks. The robot consists of three omnidirectional modules fixed 120{\deg} apart circumferentially which can rotate about their own…
Tendon-driven continuum robots (TDCRs), with their flexible backbones, offer the advantage of being used for navigating complex, cluttered environments. However, to do so, they typically require multiple segments, often leading to complex…
Over the past few years, robotics simulators have largely improved in efficiency and scalability, enabling them to generate years of simulated data in a few hours. Yet, efficiently and accurately computing the simulation derivatives remains…
This paper introduces a cube-based reconfigurable robot that utilizes an electromagnet-based actuation framework to reconfigure in three dimensions via pivoting. While a variety of actuation mechanisms for self-reconfigurable robots have…