Related papers: Structured Pneumatic Fingerpads for Actively Tunab…
Dexterous in-hand manipulation offers significant potential to enhance robotic manipulator capabilities. This paper presents a sensori-motor architecture for in-hand slip-aware control, being embodied in a sensorized gripper. The gripper in…
Stiffness estimation is crucial for delicate object manipulation in robotic and prosthetic hands but remains challenging due to dependence on force and displacement measurement and real-time sensory integration. This study presents a…
Graphene nanoribbons (GNRs) physisorbed on a Au(111) surface can be picked up, lifted at one end, and made slide by means of the tip of an atomic-force microscope. The dynamical transition from smooth sliding to multiple stick-slip regimes,…
Gripping and holding of objects are key tasks for robotic manipulators. The development of universal grippers able to pick up unfamiliar objects of widely varying shape and surface properties remains, however, challenging. Most current…
Tunable dry adhesion is a crucial mechanism in compliant manipulation. The gripping force, mainly originated from the van der Waals force between the adhesive composite and the object to be gripped, can be controlled by reversibly varying…
Aerial manipulation requires force-aware capabilities to enable safe and effective grasping and physical interaction. Previous works often rely on heavy, expensive force sensors unsuitable for typical quadrotor platforms, or perform…
Soft robotic grippers are shown to be high effective for grasping unstructured objects with simple sensing and control strategies. However, they are still limited by their speed, sensing capabilities and actuation mechanism. Hence, their…
As interest in Virtual Reality (VR) and Augmented Reality (AR) increases, the demand for kinesthetic haptic feedback devices is rapidly rising. Motor based haptic interfaces are heavy and bulky, leading to discomfort for the user. To…
Fixtures for constraining the movement of parts have been extensively investigated in robotics, since they are essential for using robots in automated manufacturing. This paper deals with the design and optimized synthesis of a special type…
Able to grasp objects of any shape and size, universal grippers using variable stiffness phenomenon such as granular jamming have been developed for disaster robotics application. However, as their contact interface is mainly composed of…
Dynamics simulation with frictional contacts is important for a wide range of applications, from cloth simulation to object manipulation. Recent methods using smoothed lagged friction forces have enabled robust and differentiable simulation…
Wearable distributed tactile devices aim to provide multipoint touch stimuli, but struggle to provide sufficient forces (> 1 N) at frequencies to invoke deep pressure sensation with minimal encumbrance at small scales. This work presents a…
Existing grasp synthesis methods are either analytical or data-driven. The former one is oftentimes limited to specific application scope. The latter one depends heavily on demonstrations, thus suffers from generalization issues; e.g.,…
Accurately modeling local surface properties of objects is crucial to many robotic applications, from grasping to material recognition. Surface properties like friction are however difficult to estimate, as visual observation of the object…
Sliding friction between two dry surfaces is reasonably described by the speed-independent Amonton-Coulomb friction force law. However, there are many situations where the frictional contact points between two surfaces are "active" and may…
Soft pneumatic actuators are widely used in soft robotics because they can produce large motions while remaining compliant enough to interact safely with objects, environments, and the human body. However, their performance is not solely…
We experimentally study the frictional behavior of a two-dimensional slider pulled slowly over a granular substrate comprised of photoelastic disks. The slider is vibrated at frequencies ranging from 0 to 30 Hz in a direction parallel to…
Rapid and versatile object manipulation in air is an open challenge. An energy-efficient and adaptive soft gripper combined with an agile aerial vehicle could revolutionize aerial robotic manipulation in areas such as warehousing. This…
Manipulation in cluttered environments like homes requires stable grasps, precise placement and robustness against external contact. We present the Soft-Bubble gripper system with a highly compliant gripping surface and dense-geometry…
One way of controlling friction and associated energy losses is to engineer a deterministic structural pattern on the surface of the rubbing parts (i.e., texture engineering). Custom texturing enhances the quality of lubrication, reduces…