Related papers: Optimised Design and Performance Comparison of Sof…
Humanoid robots are envisioned as general-purpose platforms in human-centered environments, yet their deployment is limited by vulnerability to falls and the risks posed by rigid metal-plastic structures to people and surroundings. We…
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…
Kinesthetic garments provide physical feedback on body posture and motion through tailored distributions of reinforced material. Their ability to selectively stiffen a garment's response to specific motions makes them appealing for…
Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…
Rigid link flapping mechanisms remain the most practical choice for flapping wing micro-aerial vehicles (MAVs) to carry useful payloads and onboard batteries for free flight due to their long-term durability and reliability. However, MAVs…
Designing a robot or structure that can fold itself into a target shape is a process that involves challenges originated from multiple sources. For example, the designer of rigid self-folding robots must consider foldability from geometric…
The aim of this paper is to characterize the moveability of fully-parallel manipulators in the presence of obstacles. Fully parallel manipulators are used in applications where accuracy, stiffness or high speeds and accelerations are…
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…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…
Parallel-elastic joints can improve the efficiency and strength of robots by assisting the actuators with additional torques. For these benefits to be realized, a spring needs to be carefully designed. However, designing robots is an…
Robotic systems are routinely used in the logistics industry to enhance operational efficiency, but the design of robot workspaces remains a complex and manual task, which limits the system's flexibility to changing demands. This paper aims…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
Soft robotics is a modern robotic paradigm for performing dexterous interactions with the surroundings via morphological flexibility. The desire for autonomous operation requires soft robots to be capable of proprioception and makes it…
Amidst the wide popularity of imitation learning algorithms in robotics, their properties regarding hyperparameter sensitivity, ease of training, data efficiency, and performance have not been well-studied in high-precision…
The design (shape) of a robot is usually decided before the control is implemented. This might limit how well the design is adapted to a task, as the suitability of the design is given by how well the robot performs in the task, which…
This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately.…
A robot making contact with an environment or human presents potential safety risks, including excessive collision force. While experiments on the effect of robot inertia, relative velocity, and interface stiffness on collision are in…
This paper presents the design and assessment of a fabric-based soft pneumatic actuator with low pressurization requirements for actuation making it suitable for upper extremity assistive devices for infants. The goal is to support shoulder…
Manipulation performance improvement is crucial for aerial robots. For aerial manipulators, the baselink position and attitude errors directly affect the precision at the end effector. To address this stability problem, fixed-body…
Classical rigid-bodied robotic systems are presented with proven success in theoretical development and industrial applications, are recently challenged by the emergence of soft robotics due to a growing need in physical human-robot…