Related papers: 1 Modular Parallel Manipulator for Long-Term Soft …
Dynamic data physicalisation is an emerging field of research, investigating the representation and exploration of data via multiple modalities, beyond traditional visual methods. Despite the development of various data physicalisation…
Large-scale robot datasets have facilitated the learning of a wide range of robot manipulation skills, but these datasets remain difficult to collect and scale further, owing to the intractable amount of human time, effort, and cost…
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…
This paper presents a unified framework to analyze the manipulability and compliance of modular soft-rigid hybrid robotic fingers. The approach applies to both hydraulic and pneumatic actuation systems. A Jacobian-based formulation maps…
Closed-loop control remains an open challenge in soft robotics. The nonlinear responses of soft actuators under dynamic loading conditions limit the use of analytic models for soft robot control. Traditional methods of controlling soft…
We propose a novel fast and accurate simulation framework for contact-intensive tight-tolerance robotic assembly tasks. The key components of our framework are as follows: 1) data-driven contact point clustering with a certain…
In the modern days, manipulators are found in the automated assembly lines of industries that produce products in masses. These manipulators can be used only in one configuration, that is either serial or parallel. In this paper, a new…
Soft growing robots, commonly referred to as vine robots, have demonstrated remarkable ability to interact safely and robustly with unstructured and dynamic environments. It is therefore natural to exploit contact with the environment for…
This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware…
One of the trendsetting themes in soft robotics has been the goal of developing the ultimate universal soft robotic gripper. One that is capable of manipulating items of various shapes, sizes, thicknesses, textures, and weights. All the…
The deployment of complex soft robots in multiphysics environments requires advanced simulation frameworks that not only capture interactions between different types of material, but also translate accurately to real-world performance. Soft…
Soft robots, made from compliant materials, exhibit complex dynamics due to their flexibility and high degrees of freedom. Controlling soft robots presents significant challenges, particularly underactuation, where the number of inputs is…
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…
With the increasing demand for human-computer interaction (HCI), flexible wearable gloves have emerged as a promising solution in virtual reality, medical rehabilitation, and industrial automation. However, the current technology still has…
Collecting manipulation demonstrations with robotic hardware is tedious - and thus difficult to scale. Recording data on robot hardware ensures that it is in the appropriate format for Learning from Demonstrations (LfD) methods. By…
Granular materials are of critical interest to many robotic tasks in planetary science, construction, and manufacturing. However, the dynamics of granular materials are complex and often computationally very expensive to simulate. We…
While its biological significance is well-documented, its application in soft robotics, particularly for the transport of fragile and irregularly shaped objects, remains underexplored. This study presents a modular soft robotic actuator…
Recently, suction-based robotic systems with microscopic features or active suction components have been proposed to grip rough and irregular surfaces. However, sophisticated fabrication methods or complex control systems are required for…
Accurate simulation of soft mechanisms under dynamic actuation is critical for the design of soft robots. We address this gap with our differentiable simulation tool by learning the material parameters of our soft robotic fish. On the…
Traditional robotic manipulator design methods require extensive, time-consuming, and manual trial and error to produce a viable design. During this process, engineers often spend their time redesigning or reshaping components as they…