Related papers: Integrating Contact-aware Feedback CPG System for …
We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…
Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commercial systems have begun to introduce force…
Modular robotics enables the development of versatile and adaptive robotic systems with autonomous reconfiguration. This paper presents a modular robotic system in which each module has independent actuation, battery power, and control,…
Achieving robust legged locomotion on complex terrains poses challenges due to the high uncertainty in robot-environment interactions. Recent advances in bipedal and quadrupedal robots demonstrate good mobility on rugged terrains but rely…
The human foot serves as the critical interface between the body and environment during locomotion. Existing musculoskeletal models typically oversimplify foot-ground contact mechanics, limiting their ability to accurately simulate human…
Contact modeling plays a central role in motion planning, simulation, and control of legged robots, as legged locomotion is realized through contact. The two prevailing approaches to model the contact consider rigid and compliant premise at…
Developing robotic intelligent systems that can adapt quickly to unseen wild situations is one of the critical challenges in pursuing autonomous robotics. Although some impressive progress has been made in walking stability and skill…
Robots for physical Human-Robot Collaboration (pHRC) systems need to change their behavior and how they operate in consideration of several factors, such as the performance and intention of a human co-worker and the capabilities of…
This paper aims to present a stability control strategy for quadruped robot under lateral impact with the help of lateral trot. We firstly propose five necessary conditions for keeping balance. The classical four-neuron Central Pattern…
Living systems can use a single periphery to perform a variety of tasks and adapt to a dynamic environment. This multifunctionality is achieved through the use of neural circuitry that adaptively controls the reconfigurable musculature.…
This work employs a reinforcement learning-based model identification method aimed at enhancing the accuracy of the dynamics for our snake robot, called COBRA. Leveraging gradient information and iterative optimization, the proposed…
Bioinspired snake robotics has been a highly active area of research over the years and resulted in many prototypes. Much of these prototypes takes the form of serially jointed-rigid bodies. The emergence of soft robotics contributed to a…
Snakes can traverse almost all types of environments by bending their elongate bodies in 3-D to interact with the terrain. Similarly, a snake robot is a promising platform to perform critical tasks in various environments. Understanding how…
Developing kinesthetic haptic devices with advanced haptic rendering capabilities is challenging due to the limitations on driving mechanisms. In this study, we introduce a novel soft electrohydraulic actuator and develop a kinesthetic…
In this work we present a framework that is capable of accurately representing soft robotic actuators in a multiphysics environment in real-time. We propose a constraint-based dynamics model of a 1-dimensional pneumatic soft actuator that…
This article presents a new control approach and a dynamic model for engineered flapping flight with many interacting degrees of freedom. This paper explores the applications of neurobiologically inspired control systems in the form of…
Insects have tiny brains but complicated visual systems for motion perception. A handful of insect visual neurons have been computationally modeled and successfully applied for robotics. How different neurons collaborate on motion…
Grasping is an essential capability for most robots in practical applications. Soft robotic grippers are considered as a critical part of robotic grasping and have attracted considerable attention in terms of the advantages of the high…
Initially, robots were developed with the aim of making our life easier, carrying out repetitive or dangerous tasks for humans. Although they were able to perform these tasks, the latest generation of robots are being designed to take a…