Related papers: Biological Organisms as End Effectors

Robots existed as separate entities till now, but the horizons of a symbiotic human-robot partnership are impending. Despite all the recent technical advances in terms of hardware, robots are still not endowed with desirable relational…

Arm end-effector stabilization is essential for humanoid loco-manipulation tasks, yet it remains challenging due to the high degrees of freedom and inherent dynamic instability of bipedal robot structures. Previous model-based controllers…

Assistance during eating is essential for those with severe mobility issues or eating risks. However, dependence on traditional human caregivers is linked to malnutrition, weight loss, and low self-esteem. For those who require eating…

Previous studies have found that nudging is key to promoting altruism in human-human interaction. However, in social robotics, there is still a lack of study on confirming the effect of nudging on altruism. In this paper, we apply two nudge…

A wire-driven parallel robot is a type of robotic system where multiple wires are used to control the movement of a end-effector. The wires are attached to the end-effector and anchored to fixed points on external structures. This…

In this paper we analyze some applications of the category of exterior spaces to the study of dynamical systems (flows). We study the notion of an absorbing open subset of a dynamical system; i.e., an open subset that contains the "future…

Conventional robot programming methods are complex and time-consuming for users. In recent years, alternative approaches such as mixed reality have been explored to address these challenges and optimize robot programming. While the findings…

Robots using cellular-like redundant binary actuators could outmatch electric-gearmotor robotic systems in terms of reliability, force-to-weight ratio and cost. This paper presents a robust fault tolerant control scheme that is designed to…

For a robot to be perfect and enter the everyday life of humans,like computers did, it needs to move from special-purpose robots to general-purpose. So, the idea of modularity is considered in this project.Thus, any type of task that falls…

A spherical robot consists of an externally spherical rigid body rolling on a two-dimensional surface, actuated by an auxiliary mechanism. For a class of actuation mechanisms, we derive a controller for the geometric center of the sphere to…

We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip,…

For a robot to act intelligently, it needs to sense the world around it. Increasingly, robots build an internal representation of the world from sensor readings. This representation can then be used to inform downstream tasks, such as…

There has been on-going philosophical debate on whether artificial life models, also known as digital organisms, are truly alive. The main difficulty appears to be finding an encompassing and definite definition of life. By examining…

This paper introduces the concept of coexistence for embodied artificial agents and argues that it is a prerequisite for long-term, in-the-wild interaction with humans. Contemporary embodied artificial agents excel in static, predefined…

Gripping and holding of objects are key tasks for robotic manipulators. The development of universal grippers able to pick up unfamiliar objects of widely varying shape and surface properties remains, however, challenging. Most current…

Biomimetic entirely soft robots with animal-like behavior and integrated artificial nervous systems will open up totally new perspectives and applications. However, until now all presented studies on soft robots were limited to partly soft…

The lack of specialized personnel and assistive technology to assist in rehabilitation therapies is one of the challenges facing the health sector today, and it is projected to increase. For researchers and engineers, it represents an…

Soft robots have a myriad of potentials because of their intrinsically compliant bodies, enabling safe interactions with humans and adaptability to unpredictable environments. However, most of them have limited actuation speeds, require…

Modern humanoid robots have shown their promising potential for executing various tasks involving the grasping and manipulation of objects using their end-effectors. Nevertheless, in the most of the cases, the grasping and manipulation…

Biological systems, such as the octopus, exhibit masterful cross-scale manipulation by adaptively reconfiguring their entire form, a capability that remains elusive in robotics. Conventional soft grippers, while compliant, are mostly…