Related papers: Soft Gripping: Specifying for Trustworthiness
As robotic teammates become more common in society, people will assess the robots' roles in their interactions along many dimensions. One such dimension is effectiveness: people will ask whether their robotic partners are trustworthy and…
Soft grippers are receiving growing attention due to their compliance-based interactive safety and dexterity. Hybrid gripper (soft actuators enhanced by rigid constraints) is a new trend in soft gripper design. With right structural…
Soft robotics has emerged as the standard solution for grasping deformable objects, and has proven invaluable for mobile robotic exploration in extreme environments. However, despite this growth, there are no widely adopted computational…
Novel robotic grippers have captured increasing interests recently because of their abilities to adapt to varieties of circumstances and their powerful functionalities. Differing from traditional gripper with mechanical components-made…
Soft robots are known for their ability to perform tasks with great adaptability, enabled by their distributed, non-uniform stiffness and actuation. Bending is the most fundamental motion for soft robot design, but creating robust, and…
This paper addresses the problem of selecting from a choice of possible grasps, so that impact forces will be minimised if a collision occurs while the robot is moving the grasped object along a post-grasp trajectory. Such considerations…
The rise in additive manufacturing comes with unique opportunities and challenges. Massive part customization and rapid design changes are made possible with additive manufacturing, however, manufacturing industries that desire the…
Trustworthiness is a central requirement for the acceptance and success of human-centered artificial intelligence (AI). To deem an AI system as trustworthy, it is crucial to assess its behaviour and characteristics against a gold standard…
We present Flipper, a natural language interface for describing high-level task specifications for robots that are compiled into robot actions. Flipper starts with a formal core language for task planning that allows expressing rich…
In this paper, we investigate the synthesis of piecewise affine feedback controllers to address the problem of safe and robust controller design in robotics based on high-level controls specifications. The methodology is based on…
In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…
In recent years, many countries, including Japan, have rapidly aging populations, making the preservation of seniors' quality of life a significant concern. For elderly people with impaired physical abilities, support for toileting is one…
Human fingers achieve exceptional dexterity and adaptability by combining structures with varying stiffness levels, from soft tissues (low) to tendons and cartilage (medium) to bones (high). This paper explores developing a robotic finger…
Autonomous robotic grasping of uncertain objects in uncertain environments is an impactful open challenge for the industries of the future. One such industry is the recycling of Waste Electrical and Electronic Equipment (WEEE) materials, in…
Systems design processes are increasingly reliant on simulation models to inform design decisions. A pervasive issue within the systems engineering community is trusting in the models used to make decisions about complex systems. This work…
Soft robotic grippers demonstrate great potential for gently and safely handling objects; however, their full potential for executing precise and secure grasping has been limited by the lack of integrated sensors, leading to problems such…
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…
Soft robots, particularly magnetic soft robots, require specialized simulation tools to accurately model their deformation under external magnetic fields. However, existing platforms often lack dedicated support for magnetic materials,…
Transformer architectures have revolutionized machine learning across a wide range of domains, from natural language processing to scientific computing. However, their growing deployment in high-stakes applications, such as computer vision,…
Multi-suction-cup grippers are frequently employed to perform pick-and-place robotic tasks, especially in industrial settings where grasping a wide range of light to heavy objects in limited amounts of time is a common requirement. However,…