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Mechanical compliance is a key design parameter for dynamic contact-rich manipulation, affecting task success and safety robustness over contact geometry variation. Design of soft robotic structures, such as compliant fingers, requires…
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…
The need for contact-rich tasks is rapidly growing in modern manufacturing settings. However, few traditional robotic assembly skills consider environmental constraints during task execution, and most of them use these constraints as…
Endowing continuum robots with compliance while it is interacting with the internal environment of the human body is essential to prevent damage to the robot and the surrounding tissues. Compared with passive compliance, active compliance…
This manuscript presents a model of compliant contacts for time-critical humanoid robot motion control. The proposed model considers the environment as a continuum of spring-damper systems, which allows us to compute the equivalent contact…
Force control enables hands-on teaching and physical collaboration, with the potential to improve ergonomics and flexibility of automation. Established methods for the design of compliance, impedance control, and \rev{collision response}…
Force and proximity sensors are key in robotics, especially when applied in collaborative robots that interact physically or cognitively with humans in real unstructured environments. However, most existing sensors for use in robotics are…
High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise architectures in which each actuated segment behaves as a…
Biomimicry has played a pivotal role in robotics. In contrast to rigid robots, bio-inspired robots exhibit an inherent compliance, facilitating versatile movements and operations in constrained spaces. The robot implementation in…
In robotic manipulation, end-effector compliance is an essential precondition for performing contact-rich tasks, such as machining, assembly, and human-robot interaction. Most robotic arms are position-controlled stiff systems at a hardware…
Identifying changes in contact during contact-rich manipulation can detect task state or errors, enabling improved robustness and autonomy. The ability to detect contact is affected by the mechatronic design of the robot, especially its…
Robots that interact with humans or perform delicate manipulation tasks must exhibit compliance. However, most commercial manipulators are rigid and suffer from significant friction, limiting end-effector tracking accuracy in…
This work establishes a solution to the problem of assessing the capacity of multi-object assemblies to withstand external forces without becoming unstable. Our physically-grounded approach handles arbitrary structures made from rigid…
Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stability of such robots in physical human-robot-environment…
There is an increased demand for task automation in robots. Contact-rich tasks, wherein multiple contact transitions occur in a series of operations, are extensively being studied to realize high accuracy. In this study, we propose a…
Humanoid robots are expected to operate in human-centered environments where safe and natural physical interaction is essential. However, most recent reinforcement learning (RL) policies emphasize rigid tracking and suppress external…
The robotic assembly represents a group of benchmark problems for reinforcement learning and variable compliance control that features sophisticated contact manipulation. One of the key challenges in applying reinforcement learning to…
Advancements in the domain of physical human-robot interaction (pHRI) have tremendously improved the ability of humans and robots to communicate, collaborate, and coexist. In particular, compliant robotic systems offer many characteristics…
Contact can be conceptualized as a set of constraints imposed on two bodies that are interacting with one another in some way. The nature of a contact, whether a point, line, or surface, dictates how these bodies are able to move with…
Living organisms intertwine soft (e.g., muscle) and hard (e.g., bones) materials, giving them an intrinsic flexibility and resiliency often lacking in conventional rigid robots. The emerging field of soft robotics seeks to harness these…