Related papers: Active Vibration Fluidization for Granular Jamming…
We investigate the jamming transition in packings of emulsions and granular materials via molecular dynamics simulations. The emulsion model is composed of frictionless droplets interacting via nonlinear normal forces obtained using…
The integration of extra-robotic limbs/fingers to enhance and expand motor skills, particularly for grasping and manipulation, possesses significant challenges. The grasping performance of existing limbs/fingers is far inferior to that of…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
In this work, we show that a recently proposed method for experimental nonlinear modal analysis based on the extended periodic motion concept is well suited to extract modal properties for strongly nonlinear systems (i.e. in the presence of…
We introduce a unified framework for gentle robotic grasping that synergistically couples real-time friction estimation with adaptive grasp control. We propose a new particle filter-based method for real-time estimation of the friction…
A remarkable property of dense suspensions is that they can transform from liquid-like at rest to solid-like under sudden impact. Previous work showed that this impact-induced solidification involves rapidly moving jamming fronts; however,…
The high-pressure compaction of three dimensional granular packings is simulated using a bonded particle model (BPM) to capture linear elastic deformation. In the model, grains are represented by a collection of point particles connected by…
We consider the problem of grasping deformable objects with soft shells using a robotic gripper. Such objects have a center-of-mass that changes dynamically and are fragile so prone to burst. Thus, it is difficult for robots to generate…
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…
The macroscopic response of granular solids is determined by the microscopic fabric of force chains, which, in turn, is intimately linked to the history of the solid. To query the influence of gravity on powder flow-behavior, a granular…
Manipulation in cluttered environments like homes requires stable grasps, precise placement and robustness against external contact. We present the Soft-Bubble gripper system with a highly compliant gripping surface and dense-geometry…
Opening sterile medical packaging is routine for healthcare workers but remains challenging for robots. Learning from demonstration enables robots to acquire manipulation skills directly from humans, and handheld gripper tools such as the…
Many industries extensively use flexible materials. Effective approaches for handling flexible objects with a robot manipulator must address residual vibrations. Existing solutions rely on complex models, use additional instrumentation for…
This contribution reports on numerical simulations of 2D granular flows on erodible beds. The broad aim is to investigate whether simple flows of model granular matter exhibits spontaneous oscillatory motion in generic flow conditions, and…
In this paper the implementation of piezoelectrics to a state-of-the-art wafer gripper is investigated. The objective is to propose and validate a solution method, which includes a mechanical design and control system, to achieve at least…
We perform numerical simulations of a two-dimensional bidisperse granular packing subjected to both a static confining pressure and a sinusoidal dynamic forcing applied by a wall on one edge of the packing. We measure the response…
This paper presents a novel design of a soft tactile finger with omni-directional adaptation using multi-channel optical fibers for rigid-soft interactive grasping. Machine learning methods are used to train a model for real-time prediction…
Vibration from an erroneous disturbance harms the manufactured components and lowers the output quality of an FDM printer. For moving machinery, vibration analysis and control are crucial. Additive manufacturing is the basis of 3D printing,…
Fiber Bragg Grating (FBG) has shown great potential in shape and force sensing of continuum manipulators (CM) and biopsy needles. In the recent years, many researchers have studied different manufacturing and modeling techniques of…
We study the compaction and mobility properties of a dense granular material under weak random vibration. By putting in direct contact millimetric glass beads with piezoelectric transducers we manage to inject energy to the system in a…