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In dynamic environments, robots often encounter constrained movement trajectories when manipulating objects with specific properties, such as doors. Therefore, applying the appropriate force is crucial to prevent damage to both the robots…
Snapping instabilities in soft structures offer a powerful pathway to achieve rapid and energy-efficient actuation. In this study, an eccentric dome-shaped snapping actuator is developed to generate controllable asymmetric motion through…
This paper presents the design, control, and applications of a multi-segment soft robotic arm. In order to design a soft arm with large load capacity, several design principles are proposed by analyzing two kinds of buckling issues, under…
In this paper, we discuss a novel continuum robot design that enables the online tuning of the magnetic response at its tip. The proposed method allows for the change of both effective magnetic direction and intensity, introducing steering…
Force Sensing and Force Control are essential to many industrial applications. Typically, a 6-axis Force/Torque (F/T) sensor is mounted between the robot's wrist and the end-effector in order to measure the forces and torques exerted by the…
Hand impairment following neurological disorders substantially limits independence in activities of daily living, motivating the development of effective assistive and rehabilitation strategies. Soft robotic gloves have attracted growing…
This study presents an integrated framework for enhancing the safety and operational efficiency of robotic arms in laparoscopic surgery by addressing key challenges in collision detection and minimum distance estimation. By combining…
The field of robotics is a quickly evolving feat of technology that accepts contributions from various genres of science. Neuroscience, Physiology, Chemistry, Material science, Computer science, and the wide umbrella of mechatronics have…
A challenging and important problem for tendon-driven multi-fingered robotic hands is to ensure grasping adaptivity while minimizing the number of actuators needed to provide human-like functionality. Inspired by the Pisa/IIT SoftHand, this…
Safety is a crucial property of every robotic platform: any control policy should always comply with actuator limits and avoid collisions with the environment and humans. In reinforcement learning, safety is even more fundamental for…
Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…
This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system…
In this work, we provide a simulation framework to perform systematic studies on the effects of spinal joint compliance and actuation on bounding performance of a 16-DOF quadruped spined robot Stoch 2. Fast quadrupedal locomotion with…
Dual-arm manipulation is an area of growing interest in the robotics community. Enabling robots to perform tasks that require the coordinated use of two arms, is essential for complex manipulation tasks such as handling large objects,…
This technical report gives an overview of our work on control algorithms dealing with redundant robot systems for achieving human-like motion characteristics. Previously, we developed a novel control law to exhibit human-motion…
Tendon-driven continuum robots (TDCRs), with their flexible backbones, offer the advantage of being used for navigating complex, cluttered environments. However, to do so, they typically require multiple segments, often leading to complex…
Dynamic in-hand manipulation remains a challenging task for soft robotic systems that have demonstrated advantages in safe compliant interactions but struggle with high-speed dynamic tasks. In this work, we present SWIFT, a system for…
Nowadays, there are few unmanned aerial vehicles (UAVs) capable of flying, walking and grasping. A drone with all these functionalities can significantly improve its performance in complex tasks such as monitoring and exploring different…
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…
As the pace of AI technology continues to accelerate, more tools have become available to researchers to solve longstanding problems, Hybrid approaches available today continue to push the computational limits of efficiency and precision.…