Related papers: PANDORA: The Open-Source, Structurally Elastic Hum…
In this work, the joint-control strategy is presented for the humanoid robot, PANDORA, whose structural components are designed to be compliant. As opposed to contemporary approaches which design the elasticity internal to the actuator…
Soft Robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced…
Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodologies that take full advantage of body compliance. Currently…
Purpose of Review: As new technological advancements are made, humanoid robots that utilise them are being designed and manufactured. For optimal design choices, a broad overview with insight on the advantages and disadvantages of available…
Humanoid robots are envisioned as general-purpose platforms in human-centered environments, yet their deployment is limited by vulnerability to falls and the risks posed by rigid metal-plastic structures to people and surroundings. We…
The high cost of robotic platforms limits students' ability to gain practical skills directly applicable in real-world scenarios. To address this challenge, this paper presents TARA, a low-cost, 3D-printed robotic arm designed for…
Robotic middleware serves as the foundational infrastructure, enabling complex robotic systems to operate in a coordinated and modular manner. In data-intensive robotic applications, especially in industrial scenarios, communication…
Recent advances in learned control, large-scale simulation, and generative models have accelerated progress toward general-purpose robotic controllers, yet the field still lacks platforms suitable for safe, expressive, long-term deployment…
Soft-robot designs are manifold, but only a few are publicly available. Often, these are only briefly described in their publications. This complicates reproduction, and hinders the reproducibility and comparability of research results. If…
Tensegrity robots, composed of rigid struts and elastic tendons, provide impact resistance, low mass, and adaptability to unstructured terrain. Their compliance and complex, coupled dynamics, however, present modeling and control…
Dynamic and contact-rich object manipulation, such as striking, snatching, or hammering, remains challenging for robotic systems due to hardware limitations. Most existing robots are constrained by high-inertia design, limited compliance,…
We present Oncilla robot, a novel mobile, quadruped legged locomotion machine. This large-cat sized, 5.1 robot is one of a kind of a recent, bioinspired legged robot class designed with the capability of model-free locomotion control.…
There is a surge of research interest in the field of tensegrity robotics. Robots developed under this paradigm provide many advantages and have distinguishing features in terms of structural compliance, dexterity, safety, and weight…
Classical rigid-bodied robotic systems are presented with proven success in theoretical development and industrial applications, are recently challenged by the emergence of soft robotics due to a growing need in physical human-robot…
In this paper, we introduce the humanoid robot DRACO 3 by providing a high-level description of its design and control. This robot features proximal actuation and mechanical artifacts to provide a high range of hip, knee and ankle motion.…
Soft robotic actuators can simplify the design of controllers when operating in contact-rich environments. Importantly, their passive compliance fundamentally alters contact mechanics by smoothing impacts and distributing forces over large…
We present PANDORA, a novel diffusion-based policy learning framework designed specifically for dexterous robotic piano performance. Our approach employs a conditional U-Net architecture enhanced with FiLM-based global conditioning, which…
Most of the quadrupeds developed are highly actuated, and their control is hence quite cumbersome. They need advanced electronics equipment to solve convoluted inverse kinematic equations continuously. In addition, they demand special and…
Advanced machine learning algorithms require platforms that are extremely robust and equipped with rich sensory feedback to handle extensive trial-and-error learning without relying on strong inductive biases. Traditional robotic designs,…
This paper presents Surena-V, a humanoid robot designed to enhance human-robot collaboration capabilities. The robot features a range of sensors, including barometric tactile sensors in its hands, to facilitate precise environmental…