Related papers: Design Considerations for 3RRR Parallel Robots wit…
To achieve high-dexterity motion planning on floating-base systems, the base dynamics induced by arm motions must be treated carefully. In general, it is a significant challenge to establish a fixed-base frame during tasking due to forces…
With the widespread application of industrial robots, the problem of absolute positioning accuracy becomes increasingly prominent. To ensure the working state of the robots, researchers commonly adopt calibration techniques to improve its…
Spring-driven jumping robots use an energised spring for propulsion, while the onboard motor only serves as a spring-charging source. A common mechanism in designing these robots is the rhomboidal linkage, which has been combined with…
Supernumerary robotic limbs (SLs) have the potential to transform a wide range of human activities, yet their usability remains limited by key technical challenges, particularly in ensuring safety and achieving versatile control. Here, we…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
The number and arrangement of sensors on mobile robot dramatically influence its perception capabilities. Ensuring that sensors are mounted in a manner that enables accurate detection, localization, and mapping is essential for the success…
Continuum robotic grasping, inspired by biological appendages such as octopus arms and elephant trunks, provides a versatile and adaptive approach to object manipulation. Unlike conventional rigid-body grasping, continuum robots leverage…
The need for contact-rich tasks is rapidly growing in modern manufacturing settings. However, few traditional robotic assembly skills consider environmental constraints during task execution, and most of them use these constraints as…
This paper addresses the architecture optimization of a 3-DOF translational parallel mechanism designed for machining applications. The design optimization is conducted on the basis of a prescribed Cartesian workspace with prescribed…
Load balancing algorithms play critical roles in systems where the workload has to be distributed across multiple resources, such as cores in multiprocessor system, computers in distributed computing, and network links. In this paper, we…
The Industry 4.0 paradigm promises shorter development times, increased ergonomy, higher flexibility, and resource efficiency in manufacturing environments. Collaborative robots are an important tangible technology for implementing such a…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
Unknown dynamic load carrying is one important practical application for quadruped robots. Such a problem is non-trivial, posing three major challenges in quadruped locomotion control. First, how to model or represent the dynamics of the…
As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
This paper introduces a methodology for task-specific design optimization of multirotor Micro Aerial Vehicles. By leveraging reinforcement learning, Bayesian optimization, and covariance matrix adaptation evolution strategy, we optimize…
We study the problem of sequential task assignment and collision-free routing for large teams of robots in applications with inter-task precedence constraints (e.g., task $A$ and task $B$ must both be completed before task $C$ may begin).…
The compliance of soft robotic arms renders the development of accurate kinematic & dynamical models especially challenging. The most widely used model in soft robotic kinematics assumes Piecewise Constant Curvature (PCC). However, PCC…
Recent advances in diffusion models hold significant potential in robotics, enabling the generation of diverse and smooth trajectories directly from raw representations of the environment. Despite this promise, applying diffusion models to…