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In recent years, research on aerial grasping, manipulation, and transportation of objects has garnered significant attention. These tasks often require UAVs to operate safely close to environments or objects and to efficiently grasp…
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers adaptively conform to object shapes…
Grasping is an essential capability for most robots in practical applications. Soft robotic grippers are considered as a critical part of robotic grasping and have attracted considerable attention in terms of the advantages of the high…
This paper is a summary of the recently accomplished research work on flexible gripping systems. The goal is to develop a gripper which can be used for a great amount of geometrically variant workpieces. The economic aspect is of particular…
The aerial manipulator (AM) is a systematic operational robotic platform in high standard on algorithm robustness. Directly deploying the algorithms to the practical system will take numerous trial and error costs and even cause destructive…
Robotic manipulation in unstructured environments requires end-effectors that combine high kinematic dexterity with physical compliance. While traditional rigid hands rely on complex external sensors for safe interaction, electrohydraulic…
The properties and applications of auxetics have been widely explored in the past years. Through proper utilization of auxetic structures, designs with unprecedented mechanical and structural behaviors can be produced. Taking advantage of…
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 paper presents an aerially deployable crawler designed for adaptive locomotion and manipulation within tree canopies. The system combines compliant microspine-based tracks, a dual-track rotary gripper, and an elastic tail, enabling…
Grasping objects across vastly different sizes and physical states-including both solids and liquids-with a single robotic gripper remains a fundamental challenge in soft robotics. We present the Everything-Grasping (EG) Gripper, a soft…
Protecting and restoring forest ecosystems has become an important conservation issue. Although various robots have been used for field data collection to protect forest ecosystems, the complex terrain and dense canopy make the data…
Birds in nature perform perching not only for rest but also for interaction with human such as the relationship with falconers. Recently, researchers achieve perching-capable aerial robots as a way to save energy, and deformable structure…
Aerial robots are evolving from avoiding obstacles to exploiting the environmental contact interactions for navigation, exploration and manipulation. A key challenge in such aerial physical interactions lies in handling uncertain contact…
Sliding tasks performed by aerial robots are valuable for inspection and simple maintenance tasks at height, such as non-destructive testing and painting. Although various end-effector designs have been used for such tasks, non-actuated…
Underwater soft grippers exhibit potential for applications such as monitoring, research, and object retrieval. However, existing underwater gripping techniques frequently cause disturbances to ecosystems. In response to this challenge, we…
Soft robotic actuators are safe and adaptable devices with inherent compliance, which makes them attractive for manipulating delicate and complex objects. Researchers have integrated stiff materials into soft actuators to increase their…
Grasping has long been considered an important and practical task in robotic manipulation. Yet achieving robust and efficient grasps of diverse objects is challenging, since it involves gripper design, perception, control and learning, etc.…
We describe a fluidic actuator design that replaces the sealed chamber of a hydraulic cylinder using a soft actuator to provide compliant linear compression with a large force ($\geq$100 N) at a low operation pressure ($\leq$50 kPa) for a…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
Research in soft manipulators has significantly enhanced object grasping capabilities, thanks to their adaptability to various shapes and sizes. Applying this technology to on-orbit servicing, especially during the capture and containment…