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Vision-based control provides a significant potential for the end-point positioning of continuum robots under physical sensing limitations. Traditional visual servoing requires feature extraction and tracking followed by full or partial…
There are many spaces inaccessible to humans where robots could help deliver sensors and equipment. Many of these spaces contain three-dimensional passageways and uneven terrain that pose challenges for robot design and control. Everting…
Future robots will navigate perilous, remote environments with resilience and autonomy. Researchers have proposed building robots with compliant bodies to enhance robustness, but this approach often sacrifices the autonomous capabilities…
Flexible ferromagnetic rings are spin-chain magnets, in which the magnetic and mechanical subsystems are coupled. The coupling is achieved through the tangentially oriented anisotropy axis. The possibility to operate the mechanics of the…
Containerized vertical farming is a type of vertical farming practice using hydroponics in which plants are grown in vertical layers within a mobile shipping container. Space limitations within shipping containers make the automation of…
In this paper, we report the results from the analysis of a numerical model used for the design of a magnetic linear actuator with applications to fin-based locomotion. Most of the current robotic fish generate bending motion using rotary…
Agile maneuvers are essential for robot-enabled complex tasks such as surgical procedures. Prior explorations on surgery autonomy are limited to feasibility study of completing a single task without systematically addressing generic…
The magnetic anisotropy of low-dimensional Mott systems exhibits unexpected magnetotransport behavior useful for spin-based quantum electronics. Yet, the anisotropy of natural materials is inherently determined by the crystal structure,…
Modular small-scale robots offer the potential for on-demand assembly and disassembly, enabling task-specific adaptation in dynamic and constrained environments. However, existing modular magnetic platforms often depend on workspace…
In this paper, we present a robotic device for mouse tail vein injection. We propose a mouse holding mechanism to realize vein injection without anesthetizing the mouse, which consists of a tourniquet, vacuum port, and adaptive tail-end…
Long-term autonomy is one of the most demanded capabilities looked into a robot. The possibility to perform the same task over and over on a long temporal horizon, offering a high standard of reproducibility and robustness, is appealing.…
Imitation learning has demonstrated significant potential in performing high-precision manipulation tasks using visual feedback. However, it is common practice in imitation learning for cameras to be fixed in place, resulting in issues like…
Modern herbicide application in agricultural settings typically relies on either large scale sprayers that dispense herbicide over crops and weeds alike or portable sprayers that require labor intensive manual operation. The former method…
Robotic assistance for experimental manipulation in the life sciences is expected to enable favorable outcomes, regardless of the skill of the scientist. Experimental specimens in the life sciences are subject to individual variability and…
Force Sensing and Force Control are essential to many industrial applications. Typically, a 6-axis Force/Torque (F/T) sensor is mounted between the robot's wrist and the end-effector in order to measure the forces and torques exerted by the…
Venipucture is a common step in clinical scenarios, and is with highly practical value to be automated with robotics. Nowadays, only a few on-shelf robotic systems are developed, however, they can not fulfill practical usage due to varied…
Robotic arms built from stiffness-adjustable, continuously bending segments serially connected with revolute joints have the ability to change their mechanical architecture and workspace, thus allowing high flexibility and adaptation to…
Segmentation-based autonomous navigation has recently been proposed as a promising methodology to guide robotic platforms through crop rows without requiring precise GPS localization. However, existing methods are limited to scenarios where…
Robotic technologies are becoming increasingly popular in dentistry due to the high level of precision required in delicate dental procedures. Most dental robots available today are designed for implant surgery, helping dentists to…
We present a novel system, AdVENTR for autonomous robot navigation in unstructured outdoor environments that consist of uneven and vegetated terrains. Our approach is general and can enable both wheeled and legged robots to handle outdoor…