Related papers: Vision-based FDM Printing for Fabricating Airtight…
Wearable fingertip haptic devices are critical for realistic interaction in virtual reality, augmented reality, and teleoperation, yet existing approaches struggle to simultaneously achieve adequate tactile output, low mass, simple…
In this paper, we present a novel flow model and compensation strategy for high-viscosity fluid deposition that yields high quality parts in the face of large transient delays and nonlinearity. Robotic high-viscosity fluid deposition is an…
Differentiable physics simulation provides an avenue to tackle previously intractable challenges through gradient-based optimization, thereby greatly improving the efficiency of solving robotics-related problems. To apply differentiable…
3D printing techniques such as Fused Deposition Modeling (FDM) have enabled the fabrication of complex geometry quickly and cheaply. High stiffness parts are produced by filling the 2D polygons of consecutive layers with contour-parallel…
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…
With the advent of 3D printers in different price ranges and sizes, they are no longer just for professionals. However, it is still challenging to use a 3D printer perfectly. Especially, in the case of the Fused Deposition Method, it is…
Soft robot serial chain manipulators with the capability for growth, stiffness control, and discrete joints have the potential to approach the dexterity of traditional robot arms, while improving safety, lowering cost, and providing an…
We describe a fluidic actuator design that replaces the sealed chamber of a hydraulic cylinder using a soft actuator to provide compliant linear compression with a large force ($\geq$100 N) at a low operation pressure ($\leq$50 kPa) for a…
This paper presents an integrated robotic fused deposition modeling additive manufacturing system featuring closed-loop thermal control and intelligent in-situ defect correction using a 6-degree of freedom robotic arm and an Oak-D camera.…
The vision of creating entirely-soft robots capable of performing complex tasks will be accomplished only when the controllers required for autonomous operation can be fully implemented on soft components. Despite recent advances in…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Developing soft circuits from individual soft logic gates poses a unique challenge: with increasing numbers of logic gates, the design and implementation of circuits leads to inefficiencies due to mathematically unoptimized circuits and…
Conventional industrial robots often use two-fingered grippers or suction cups to manipulate objects or interact with the world. Because of their simplified design, they are unable to reproduce the dexterity of human hands when manipulating…
We present a method to fabricate double shell structures printed in trans-versal directions using multi-axis fused-deposition-modeling (FDM) robot-ic 3D printing. Shell structures, characterized by lightweight, thin walls, fast buildup, and…
Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…
Soft robotics have gained increased attention from the robotic community due to their unique features such as compliance and human safety. Impressive amount of soft robotic prototypes have shown their superior performance over their rigid…
Accurate simulation of the printing process is essential for improving print quality, reducing waste, and optimizing the printing parameters of extrusion-based additive manufacturing. Traditional additive manufacturing simulations are very…
An accurate, physically-based, and differentiable model of soft robots can unlock downstream applications in optimal control. The Finite Element Method (FEM) is an expressive approach for modeling highly deformable structures such as…
In recent years, the integration of additive manufacturing (AM) and industrial robotics has opened new perspectives for the production of complex components, particularly in the automotive sector. Robot-assisted additive manufacturing…
This work assesses the hydrodynamic efficiency of Underwater Unmanned Vehicles (UUVs) equipped with soft morphing wings compared to conventional rigid wings. Unlike rigid wings, deformable counterparts can alter their aerodynamic properties…