Related papers: A Compact Optical Six-Axis Force/Torque Sensor for…
Capacitive pressure sensors have several advantages in areas such as robotics, automation, aerospace, biomedical and consumer electronics. We present mathematical modelling, finite element analysis (FEA), fabrication and experimental…
Advancements in the domain of physical human-robot interaction (pHRI) have tremendously improved the ability of humans and robots to communicate, collaborate, and coexist. In particular, compliant robotic systems offer many characteristics…
Due to their ability to adapt to different terrains, quadruped robots have drawn much attention in the research field of robot learning. Legged mobile manipulation, where a quadruped robot is equipped with a robotic arm, can greatly enhance…
Purpose-This paper is based on design of a quadruped robot and manufacturing it with 3-D printer followed by its detailed analysis. It focuses on the advantages of additive manufacturing rather than conventional manufacturing techniques and…
This study aims to enhance the accuracy of a six-axis force/torque sensor compared to existing approaches that utilize Multi-Layer Perceptron (MLP) and the Least Square Method. The sensor used in this study is based on a photo-coupler and…
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during motions between the prespecified test postures. It employs a low-cost measuring system…
Achieving high spatial resolution in contact sensing for robotic manipulation often comes at the price of increased complexity in fabrication and integration. One traditional approach is to fabricate a large number of taxels, each…
Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…
Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate transformational relationships between the corresponding reference frames. For wheeled robots equipped with…
Highly articulated organisms serve as blueprints for incredibly dexterous mechanisms, but building similarly capable robotic counterparts has been hindered by the difficulties of developing electromechanical actuators with both the high…
Much current study of legged locomotion has rightly focused on foot traction forces, including on granular media. Future legged millirobots will need to go through terrain, such as brush or other vegetation, where the body contact forces…
Advancing dexterous manipulation with multi-fingered robotic hands requires rich sensory capabilities, while existing designs lack onboard thermal and torque sensing. In this work, we propose the MOTIF hand, a novel multimodal and versatile…
Animals can finely modulate their leg stiffness to interact with complex terrains and absorb sudden shocks. In feats like leaping and sprinting, animals demonstrate a sophisticated interplay of opposing muscle pairs that actively modulate…
Calibrating robots into their workspaces is crucial for manipulation tasks. Existing calibration techniques often rely on sensors external to the robot (cameras, laser scanners, etc.) or specialized tools. This reliance complicates the…
We describe a single fingertip-mounted sensing system for robot manipulation that provides proximity (pre-touch), contact detection (touch), and force sensing (post-touch). The sensor system consists of optical time-of-flight range…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate relationships between the corresponding reference frames. For wheeled robots equipped with camera/lidar along…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
In pace with the electronic technology development and the production technology improvement, industrial robot Give Scope to the Advantage in social services and industrial production. However, due to long-term mechanical wear and…
Our goal is to make robotics more accessible to casual users by reducing the domain knowledge required in designing and building robots. Towards this goal, we present an interactive computational design system that enables users to design…