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This paper describes the control, and evaluation of a new human-scaled biped robot with liquid cooled viscoelastic actuators (VLCA). Based on the lessons learned from previous work from our team on VLCA [1], we present a new system design…
This paper introduces a new generalized control method designed for multi-degrees-of-freedom devices to help people with limited motion capabilities in their daily activities. The challenge lies in finding the most adapted strategy for the…
The compliant structure of soft robotic systems enables a variety of novel capabilities in comparison to traditional rigid-bodied robots. A subclass of soft fluid-driven actuators known as fiber reinforced elastomeric enclosures (FREEs) is…
Matching the swimming efficiency and agility of fish has remained an elusive goal in underwater robotics. Such locomotion capabilities rely on complex vortex interactions between the robot's body and the surrounding fluid. However,…
When a robotic system is redundant with respect to a given task, the remaining degrees of freedom can be used to satisfy additional objectives. With current robotic systems having more and more degrees of freedom, this can lead to an entire…
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…
Mobile manipulators are known for their superior mobility over manipulators on fixed bases, offering promising applications in smart industry and housekeeping scenarios. The dynamic coupling nature between the mobile base and the…
This paper presents a unified framework to analyze the manipulability and compliance of modular soft-rigid hybrid robotic fingers. The approach applies to both hydraulic and pneumatic actuation systems. A Jacobian-based formulation maps…
As robots shift from industrial to human-centered spaces, adopting mobile manipulators, which expand workspace capabilities, becomes crucial. In these settings, seamless interaction with humans necessitates compliant control. Two common…
Most traditional robotic mechanisms feature inelastic joints that are unable to robustly handle large deformations and off-axis moments. As a result, the applied loads are transferred rigidly throughout the entire structure. The…
The paper focuses on the kinematics control of a compliant serial manipulator composed of a new type of dualtriangle elastic segments. Some useful optimization techniques were applied to solve the geometric redundancy problem, ensure the…
Correct-by-construction manipulation planning in a dynamic environment, where other agents can manipulate objects in the workspace, is a challenging problem. The tight coupling of actions and motions between agents and complexity of mission…
Research on mobile manipulation systems that physically interact with humans has expanded rapidly in recent years, opening the way to tasks which could not be performed using fixed-base manipulators. Within this context, developing suitable…
Continuum arms, such as trunk and tentacle robots, lie between the two extremities of rigid and soft robots and promise to capture the best of both worlds in terms of manipulability, dexterity, and compliance. This paper proposes a new…
This paper proposes a novel approach to recognizing dynamic hand gestures facilitating seamless interaction between humans and robots. Here, each robot manipulator task is assigned a specific gesture. There may be several such tasks, hence,…
Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…
This paper presents a novel simulation platform, ZeMa, designed for robotic manipulation tasks concerning soft objects. Such simulation ideally requires three properties: two-way soft-rigid coupling, intersection-free guarantees, and…
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…
Neurorehabilitation conventionally relies on the interaction between a patient and a physical therapist. Robotic systems can improve and enrich the physical feedback provided to patients after neurological injury, but they under-utilize the…
The cooperation of a pair of robot manipulators is required to manipulate a target object without any fixtures. The conventional control methods coordinate the end-effector pose of each manipulator with that of the other using their…