Related papers: 1 Modular Parallel Manipulator for Long-Term Soft …
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
We present a deep imitation learning framework for robotic bimanual manipulation in a continuous state-action space. A core challenge is to generalize the manipulation skills to objects in different locations. We hypothesize that modeling…
This paper develops a mechanical tool as well as its manipulation policies for 2-finger parallel robotic grippers. It primarily focuses on a mechanism that converts the gripping motion of 2-finger parallel grippers into a continuous…
Modular reconfigurable robots require reliable mechanisms for automated module exchange, but conventional rigid active couplings often fail due to inevitable positioning and orientational errors. To address this, we propose a…
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…
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…
Developing robotic manipulation policies is iterative and hypothesis-driven: researchers test tactile sensing, gripper geometries, and sensor placements through real-world data collection and training. Yet even minor end-effector changes…
The paper presents the methodology used for accuracy and repeatability measurements of the experimental model of a parallel robot developed for surgical applications. The experimental setup uses a motion tracking system (for accuracy) and a…
We present a novel convex formulation that weakly couples the Material Point Method (MPM) with rigid body dynamics through frictional contact, optimized for efficient GPU parallelization. Our approach features an asynchronous time-splitting…
Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…
Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…
Combined visual and force feedback play an essential role in contact-rich robotic manipulation tasks. Current methods focus on developing the feedback control around a single modality while underrating the synergy of the sensors. Fusing…
Recent advances in robotics have been largely driven by imitation learning, which depends critically on large-scale, high-quality demonstration data. However, collecting such data remains a significant challenge-particularly for mobile…
In recent years, there is an increasing interest in high school robotics extracurriculars such as robotics clubs and robotics competitions. The growing demand is a result of more ubiquitous open-source software and affordable off-the-shelf…
Magnetic-responsive composites that consist of soft matrix embedded with hard-magnetic particles have recently been demonstrated as robust soft active materials for fast-transforming actuation. However, the deformation of the functional…
Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. This paper proposes the FusionPortable benchmark, a complete…
The paper presents a novel modular hybrid parallel robot for pancreatic surgery and its higher-order kinematics derived based on various formalisms. The classical vector, homogeneous transformation matrices and dual quaternion approaches…
Modular robots can be reconfigured to create a variety of designs from a small set of components. But constructing a robot's hardware on its own is not enough -- each robot needs a controller. One could create controllers for some designs…
The control and task automation of robotic surgical system is very challenging, especially in soft tissue manipulation, due to the unpredictable deformations. Thus, an accurate simulator of soft tissues with the ability of interacting with…
This paper describes a 2D and 3D simulation engine that quantitatively models the statics, dynamics, and non-linear deformation of heterogeneous soft bodies in a computationally efficient manner. There is a large body of work simulating…