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Model-based control usually relies on an accurate model, which is often obtained from CAD and actuator models. The more accurate the model the better the control performance. However, in bipedal robots that demonstrate high agility actions,…
The advent of 3D printing has revolutionized many industries and has had similar improvements for soft robots. However, many challenges persist for these functional devices. Magnetic soft robots require the addition of magnetic particles…
Detecting and interpreting operator actions, engagement, and object interactions in dynamic industrial workflows remains a significant challenge in human-robot collaboration research, especially within complex, real-world environments.…
The ability to accurately quantify the performance an additively manufactured (AM) product is important for a widespread industry adoption of AM as the design is required to: (1) satisfy geometrical constraints, (2) satisfy structural…
Additive Manufacturing (AM) is a promising solution for handling the complexity of fabricating soft robots. However, the AM of hyperelastic materials is still challenging with a limited material range. Within this work, pellet-based 3D…
Configuring the parameters of additive manufacturing processes for metal alloys is a challenging problem due to complex relationships between input parameters (e.g., laser power, scan speed) and quality of printed outputs. The standard…
The mixed-model assembly line (MMAL) is a production system used in the automobile industry to manufacture different car models on the same conveyor, offering a high degree of product customization and flexibility. However, the MMAL also…
World Action Models (WAMs) enhance Vision-Language-Action policies by jointly predicting scene evolution and robot actions, but existing methods usually represent the predicted world as holistic images, video tokens, or global latents.…
Materials design problems often require optimizing multiple variables, rendering full factorial exploration impractical. Design of experiment (DOE) methods, such as Taguchi technique, are commonly used to efficiently sample the design space…
Significant improvements to the production rate of additive manufacturing (AM) technologies are essential to their cost-effectiveness and competitiveness with traditional processing routes. Moreover, much faster AM processes, in combination…
Additive robotic construction of building-scale discrete bar structures, such as trusses and space frames, is increasingly attractive due to the potential improvements in efficiency, safety, and design possibilities. However, programming…
Robot-assisted 3D printing has drawn a lot of attention by its capability to fabricate curved layers that are optimized according to different objectives. However, the support generation algorithm based on a fixed printing direction for…
Characterizing meltpool shape and geometry is essential in metal Additive Manufacturing (MAM) to control the printing process and avoid defects. Predicting meltpool flaws based on process parameters and powder material is difficult due to…
Performing long-term experimentation or large-scale data collection for machine learning in the field of soft robotics is challenging, due to the hardware robustness and experimental flexibility required. In this work, we propose a modular…
Industrial robots are increasingly deployed in applications requiring an end effector tool to closely track a specified path, such as in spraying and welding. Performance and productivity present possibly conflicting objectives: tracking…
Additive manufacturing (AM) enables the development of high-performance architected cellular materials, emphasizing the growing importance of establishing programmable and predictable energy absorption capabilities. This study evaluates the…
Volumetric additive manufacturing promises near-instantaneous fabrication of 3D objects, yet achieving high fidelity at the micro-scale remains challenging due to the complex interplay between optical diffraction and chemical effects. We…
One of the most important features of tendon-driven robots is the ease of wire arrangement and the degree of freedom it affords, enabling the construction of a body that satisfies the desired characteristics by modifying the wire…
Despite the widespread adoption of industrial robots in automotive assembly, wire harness installation remains a largely manual process, as it requires precise and flexible manipulation. To address this challenge, we design a novel AI-based…
This paper presents the design, control, and applications of a multi-segment soft robotic arm. In order to design a soft arm with large load capacity, several design principles are proposed by analyzing two kinds of buckling issues, under…