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Designing an in-pipe climbing robot that manipulates sharp gears to study complex line relationships. Traditional rolling/happening pipe climbing robots tend to slide when exploring pipe curves. The proposed gearbox connects to the farthest…
For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed…
Soft robots have the ability to adapt to their environment, which makes them suitable for use in disaster areas and agricultural fields, where their mobility is constrained by complex terrain. One of the main challenges in developing soft…
Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop…
3D geometric contents are becoming increasingly popular. In this paper, we study the problem of analyzing deforming 3D meshes using deep neural networks. Deforming 3D meshes are flexible to represent 3D animation sequences as well as…
Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…
Among small-scale mobile robots, multi-modal locomotion can help compensate for limited actuator capabilities. However, supporting multiple locomotion modes or gaits in small terrestrial robots typically requires complex designs with low…
Traditional robots have rigid links and structures that limit their ability to interact with the dynamics of their immediate environment. For example, conventional robot manipulators with rigid links can only manipulate objects using…
We present Shape-Haptics, an approach for designers to rapidly design and fabricate passive force feedback mechanisms for physical interfaces. Such mechanisms are used in everyday interfaces and tools, and they are challenging to design.…
Soft robot serial chain manipulators with the capability for growth, stiffness control, and discrete joints have the potential to approach the dexterity of traditional robot arms, while improving safety, lowering cost, and providing an…
This paper presents a passive control method for multiple degrees of freedom in a soft pneumatic robot through the combination of flow resistor tubes with series inflatable actuators. We designed and developed these 3D printed resistors…
Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…
It is prevalent in contemporary AI and robotics to separately postulate a brain modeled by neural networks and employ it to learn intelligent and adaptive behavior. While this method has worked very well for many types of tasks, it isn't…
We address the challenge of reliable and accurate proprioception in soft robots, specifically those with tight packaging constraints and relying only on internally embedded sensors. While various sensing approaches with single sensors have…
The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves.…
Soft robots are robotic systems made of deformable materials and exhibit unique flexibility that can be exploited for complex environments and tasks. However, their control problem has been considered a challenging subject because they are…
Passivity-based control is a cornerstone of control theory and an established design approach in robotics. Its strength is based on the passivity theorem, which provides a powerful interconnection framework for robotics. However, the design…
Shape-morphing robots have shown benefits in industrial grasping. We propose form-flexible grippers for adaptive grasping. The design is based on the hybrid jamming and suction mechanism, which deforms to handle objects that vary…
Legged robots have achieved impressive feats in dynamic locomotion in challenging unstructured terrain. However, in entertainment applications, the design and control of these robots face additional challenges in appealing to human…
Stability and reliable operation under a spectrum of environmental conditions is still an open challenge for soft and continuum style manipulators. The inability to carry sufficient load and effectively reject external disturbances are two…