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Closed-loop control remains an open challenge in soft robotics. The nonlinear responses of soft actuators under dynamic loading conditions limit the use of analytic models for soft robot control. Traditional methods of controlling soft…
This paper focuses on a novel robotic system MorphoLander representing heterogeneous swarm of drones for exploring rough terrain environments. The morphogenetic leader drone is capable of landing on uneven terrain, traversing it, and…
It is desired to equip robots with the capability of interacting with various soft materials as they are ubiquitous in the real world. While physics simulations are one of the predominant methods for data collection and robot training,…
Robotic manipulation of deformable objects gains great attention due to its wide applications including medical surgery, home assistance, and automatic food preparation. The ability to deform soft objects remains a great challenge for…
Soft robotics focuses on designing robots with highly deformable materials, allowing them to adapt and operate safely and reliably in unstructured and variable environments. While soft robots offer increased compliance over rigid body…
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…
Deformable robots are notoriously difficult to model or control due to its high-dimensional configuration spaces. Direct trajectory optimization suffers from the curse-of-dimensionality and incurs a high computational cost, while…
The request for fast response and safe operation after natural and man-made disasters in urban environments has spurred the development of robotic systems designed to assist in search and rescue operations within complex rubble sites.…
Traditional robots have rigid links and structures that limit their ability to interact with the dynamics of their immediate environment. For example, conventional robot manipulators with rigid links can only manipulate objects using…
Today, the most widespread, widely applicable technology for gathering data relies on experienced scientists armed with handheld radio telemetry equipment to locate low-power radio transmitters attached to wildlife from the ground. Although…
Current aerial robots demonstrate limited interaction capabilities in unstructured environments when compared with their biological counterparts. Some examples include their inability to tolerate collisions and to successfully land or perch…
Robot deployment in realistic dynamic environments is a challenging problem despite the fact that robots can be quite skilled at a large number of isolated tasks. One reason for this is that robots are rarely equipped with powerful…
An innovative sort of mobility platform that can both drive and fly is the air-ground robot. The need for an agile flight cannot be satisfied by traditional path planning techniques for air-ground robots. Prior studies had mostly focused on…
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…
Miniature locomotion robots with the ability to navigate confined environments show great promise for a wide range of tasks, including search and rescue operations. Soft miniature locomotion robots, as a burgeoning field, have attracted…
Soft robots are naturally designed to perform safe interactions with their environment, like locomotion and manipulation. In the literature, there are now many concepts, often bio-inspired, to propose new modes of locomotion or grasping.…
This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400~g at take-off, the mechanism is actuated in the forward body direction, enabling precise position…
In an era of rapid urbanization and e-commerce growth, efficient parcel delivery methods are crucial. This paper presents a detailed study of the aerodynamics and sensing analysis of drones for parcel delivery. Utilizing Computational Fluid…
Recent research efforts have yielded significant advancements in manipulating objects under homogeneous settings where the robot is required to either manipulate rigid or deformable (soft) objects. However, the manipulation under…
Soft pneumatic legged robots show promise in their ability to traverse a range of different types of terrain, including natural unstructured terrain met in applications like precision agriculture. They can adapt their body morphology to the…