Related papers: External Steering of Vine Robots via Magnetic Actu…
Accurate and autonomous transportation of micro-objects and biological cells can enable significant advances in a wide variety of research disciplines. Here, we present a novel, vision-based, model-free microrobotic pushing algorithm for…
Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…
This paper introduces a learning-based modeling framework for a magnetically steerable soft suction device designed for endoscopic endonasal brain tumor resection. The device is miniaturized (4 mm outer diameter, 2 mm inner diameter, 40 mm…
Soft robots have attracted much attention in recent years owing to their high adaptability. Long articulated soft robots enable diverse operations, and tip-extending robots that navigate their environment through growth are highly effective…
In-situ aeroengine maintenance works are highly beneficial as it can significantly reduce the current maintenance cycle which is extensive and costly due to the disassembly requirement of engines from aircrafts. However, navigating in/out…
Autonomous Micro Aerial Vehicles (MAVs) have the potential to be employed for surveillance and monitoring tasks. By perching and staring on one or multiple locations aerial robots can save energy while concurrently increasing their overall…
Mobile manipulators that combine mobility and manipulability, are increasingly being used for various unstructured application scenarios in the field, e.g. vineyards. Therefore, the coordinated motion of the mobile base and manipulator is…
We detail a technique to produce actuators able to bear large strain and respond to an external magnetic field. The material used is PDMS reinforced with nickel coated carbon fibres. Thanks to the nickel functionalisation, the fibre…
Variable impedance actuators (VIAs) as tool devices for teleoperation could extend the range of tasks that humans can perform through a teleoperated robot by mimicking the change of upper limb stiffness that humans perform for different…
Inflated continuum robots are promising for a variety of navigation tasks, but controlling their motion with a small number of actuators is challenging. These inflated beam robots tend to buckle under compressive loads, producing extremely…
Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…
One of the major goals of tomorrow's agriculture is to increase agricultural productivity but above all the quality of production while significantly reducing the use of inputs. Meeting this goal is a real scientific and technological…
Snapping beams enable rapid geometric transitions through nonlinear instability, offering an efficient means of generating motion in soft robotic systems. In this study, a tendon-driven mechanism consisting of spiral-based metabeams was…
Navigation inside luminal organs is an arduous task that requires non-intuitive coordination between the movement of the operator's hand and the information obtained from the endoscopic video. The development of tools to automate certain…
In active Visual-SLAM (V-SLAM), a robot relies on the information retrieved by its cameras to control its own movements for autonomous mapping of the environment. Cameras are usually statically linked to the robot's body, limiting the extra…
Autonomous navigation is the key to achieving the full automation of agricultural research and production management (e.g., disease management and yield prediction) using agricultural robots. In this paper, we introduced a vision-based…
Magnetic soft robots embedded with hard magnetic particles enable untethered actuation via external magnetic fields, offering remote, rapid, and precise control, which is highly promising for biomedical applications. However, designing such…
Autonomous robots for endovascular interventions hold significant potential to enhance procedural safety and reliability by navigating guidewires with precision, minimizing human error, and reducing surgical time. However, existing methods…
In this work a design is proposed for an active, permanent magnet based, self-propelled magnetic bearing i.e. levitating motor having the following features : (a) simple winding structure, (b) high load supporting capacity, (c) no…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…