Related papers: A Multi-Segment, Soft Growing Robot with Selective…
We present the modeling, design, fabrication and feedback control of an earthworm-inspired soft robot capable of crawling on surfaces by actively manipulating the frictional force between its body and the surface. Earthworms are segmented…
While soft robot manipulators offer compelling advantages over rigid counterparts, including inherent compliance, safe human-robot interaction, and the ability to conform to complex geometries, accurate forward modeling from low-dimensional…
Legged robots have the ability to adapt their walking posture to navigate confined spaces due to their high degrees of freedom. However, this has not been exploited in most common multilegged platforms. This paper presents a deformable…
A robotic platform for mobile manipulation needs to satisfy two contradicting requirements for many real-world applications: A compact base is required to navigate through cluttered indoor environments, while the support needs to be large…
Hyper-redundant robots offer high dexterity, making them good at operating in confined and unstructured environments. To extend the reachable workspace, we built a multi-segment flexible rack actuated planar robot. However, the compliance…
Most autonomous navigation systems assume wheeled robots are rigid bodies and their 2D planar workspaces can be divided into free spaces and obstacles. However, recent wheeled mobility research, showing that wheeled platforms have the…
In-pipe robots are promising solutions for condition assessment, leak detection, water quality monitoring in a variety of other tasks in pipeline networks. Smart navigation is an extremely challenging task for these robots as a result of…
Autonomous Micro Aerial Vehicles (MAVs) have the potential to be employed for surveillance and monitoring tasks. By perching and staring on one or multiple locations aerial robots can save energy while concurrently increasing their overall…
Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along sagittal direction, such as…
Bagging operations, common in packaging and assisted living applications, are challenging due to a bag's complex deformable properties. To address this, we develop a robotic system for automated bagging tasks using an adaptive…
Bipedal running is a difficult task to realize in robots, since the trunk is underactuated and control is limited by intermittent ground contacts. Stabilizing the trunk becomes even more challenging if the terrain is uneven and causes…
Motivated by a high demand for automated inspection of civil infrastructure, this work presents a new design and development of a tank-like robot for structural health monitoring. Unlike most existing magnetic wheeled mobile robot designs,…
Vision-based control provides a significant potential for the end-point positioning of continuum robots under physical sensing limitations. Traditional visual servoing requires feature extraction and tracking followed by full or partial…
Small-scale robots hold great potential for targeted cargo delivery in minimally-inv asive medicine. However, current robots often face challenges to locomote efficiently on slip pery biological tissue surfaces, especially when loaded with…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…
Autonomous navigation is the foundation of agricultural robots. This paper focuses on developing an advanced autonomous navigation system for a rover operating within row-based crops. A position-agnostic system is proposed to address the…
Soft robots are inherently compliant and have a strong potential to realize human-friendly and safe robots. Despite continued research highlighting the potential of soft robots, they remain largely confined to laboratory settings. In this…
Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a…
In this article, we present a mechanism and related path planning algorithm to construct light-duty barriers out of extruded, inflated tubes weaved around existing environmental features. Our extruded tubes are based on everted vine-robots…
Soft pneumatic actuators have seen applications in many soft robotic systems, and their pressure-driven nature presents unique challenges and opportunities for controlling their motion. In this work, we present a new concept: designing and…