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Robotic grasping under uncertainty remains a fundamental challenge due to its uncertain and contact-rich nature. Traditional rigid robotic hands, with limited degrees of freedom and compliance, rely on complex model-based and heavy feedback…
Aerial Manipulator Systems (AMS) have garnered significant interest for their utility in aerial operations. Nonetheless, challenges related to the manipulator's limited stiffness and the coupling disturbance with manipulator movement…
Perching on structures such as trees, beams, and ledges is essential for extending the endurance of aerial robots by enabling energy conservation in standby or observation modes. A tethered tensile perching mechanism offers a simple,…
This paper presents the design, control, and applications of a multi-segment soft robotic arm. In order to design a soft arm with large load capacity, several design principles are proposed by analyzing two kinds of buckling issues, under…
This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation…
A drawing robot avatar is a robotic system that allows for telepresence-based drawing, enabling users to remotely control a robotic arm and create drawings in real-time from a remote location. The proposed control framework aims to improve…
Companies all over the world started to produce and sell telepresence robots in the last decade. Users of these robots have to plan their way to avoid collisions and control the speed of the robot to move it to destination point. This…
The absence of functional arm joints, such as the wrist, in upper extremity prostheses leads to compensatory motions in the users' daily activities. Compensatory motions have been previously studied for varying task protocols and evaluation…
The paper proposes a novel concept of docking drones to make this process as safe and fast as possible. The idea behind the project is that a robot with a soft gripper grasps the drone in midair. The human operator navigates the robotic arm…
Supernumerary Robotics Device (SRD) is an ideal solution to provide robotic assistance in overhead manual manipulation. Since two arms are occupied for the overhead task, it is desired to have additional arms to assist us in achieving other…
Autonomous Unmanned Aerial Manipulators (UAMs) have shown promising potentials to transform passive sensing missions into active 3-dimension interactive missions, but they still suffer from some difficulties impeding their wide…
The size of a narrow gap traversable by a fixed-wing drone is limited by its wingspan. Inspired by birds, here, we enable the traversal of a gap of sub-wingspan width and height using a morphing-wing drone capable of temporarily sweeping in…
The main purpose of this research is to move the robotic arm (5DoF) in real-time, based on the surface Electromyography (sEMG) signals, as obtained from the wireless Myo gesture armband to distinguish seven hand movements. The sEMG signals…
Sensing gloves have become important tools for teleoperation and robotic policy learning as they are able to provide rich signals like speed, acceleration and tactile feedback. A common approach to track gloved hands is to directly use the…
Back-support exoskeletons are commonly used in the workplace to reduce low back pain risk for workers performing demanding activities. However, for the assistance of tasks differing from lifting, back-support exoskeletons potential has not…
Reducing the complexity of higher order problems can enable solving them in analytical ways. In this paper, we propose an analytic whole body motion generator for humanoid robots. Our approach targets inexpensive platforms that possess…
Reasoning about object handover configurations allows an assistive agent to estimate the appropriateness of handover for a receiver with different arm mobility capacities. While there are existing approaches for estimating the effectiveness…
Current approaches to grasp planning for robotics demonstrate high success rates, but degrade with noisy sensors and other factors. Previous works have proposed tactile-based grasp stability classifiers to detect failures, but these…
Flying manipulators are aerial drones with attached rigid-bodied robotic arms and belong to the latest and most actively developed research areas in robotics. The rigid nature of these arms often lack compliance, flexibility, and smoothness…
Safe yet stable grasping requires a robotic hand to apply sufficient force on the object to immobilize it while keeping it from getting damaged. Soft robotic hands have been proposed for safe grasping due to their passive compliance, but…