Related papers: Vertical Vibratory Transport of Grasped Parts Usin…
Dynamic positioning in acoustic levitation typically depends on active control of the transducers phases, which necessitates complex driving electronics. While mechanically actuated reflectors offer a simpler alternative, achieving…
Robotic hands offer advanced manipulation capabilities, while their complexity and cost often limit their real-world applications. In contrast, simple parallel grippers, though affordable, are restricted to basic tasks like pick-and-place.…
Granular jamming has recently become popular in soft robotics with widespread applications including industrial gripping, surgical robotics and haptics. Previous work has investigated the use of various techniques that exploit the nature of…
Granular jamming is a popular soft robotics technology that has seen recent widespread applications including industrial gripping, surgical robotics and haptics. However, to date the field has not fully exploited the fundamental science of…
Autonomous delivery of goods using a MAV is a difficult problem, as it poses high demand on the MAV's control, perception and manipulation capabilities. This problem is especially challenging if the exact shape, location and configuration…
Motivated by recent advances in the investigation of fluctuation-driven ratchets and flows in excited granular media, we have carried out experimental and simulational studies to explore the horizontal transport of granular particles in a…
A particle on a substrate supporting a surface acoustic wave can experience horizontal drift excited by the dry friction force. The effect is referred to as vibrational transportation, or as a surface acoustic wave motor. A traditional…
Robotic hands with soft surfaces can perform stable grasping, but the high friction of the soft surfaces makes it difficult to release objects, or to perform operations that require sliding. To solve this issue, we previously developed a…
We report an experimental study of liquid drops moving against gravity, when placed on a vertically vibrating inclined plate, which is partially wetted by the drop. The frequency of vibrations ranges from 30 to 200 Hz, and, above a…
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…
Motivated by recent advances in the investigation of fluctuation-driven ratchets and flows in excited granular media, we have carried out experimental and simulational studies to explore the horizontal transport of granular particles in a…
Manipulating deformable objects in robotic cells is often costly and not widely accessible. However, the use of localized pneumatic gripping systems can enhance accessibility. Current methods that use pneumatic grippers to handle deformable…
This study seeks to understand conditions under which virtual gratings produced via vibrotaction and friction modulation are perceived as similar and to find physical origins in the results. To accomplish this, we developed two single-axis…
Vibrating wire alignment technique is a kind of method which through measuring the spatial distribution of magnetic field to do the alignment and it can achieve very high alignment accuracy. Vibrating wire alignment technique can be applied…
We present a new mode of transport of spherical particles in a horizontally vibrated channel with sawtooth shaped side walls. The underlying driving mechanism is based on an interplay of directional energy injection transformed by the…
Much of the Earth and many surfaces of extraterrestrial bodies are composed of in-cohesive particle matter. Locomoting on granular terrain is challenging for common robotic devices, either wheeled or legged. In this work, we discover a…
Soft grippers have excellent adaptability for a variety of objects and tasks. Jamming-based variable stiffness materials can further increase soft grippers' gripping force and capacity. Previous universal grippers enabled by granular…
In recent years, miniature wall-climbing robots have attracted widespread attention due to their significant potential in equipment inspection and in-situ repair applications. Traditional wall-climbing systems typically rely on…
Experimental results are presented on the transport properties of granular materials on a vibratory conveyor. For circular oscillations of the shaking trough a non-monotonous dependence of the transport velocity on the normalized…
We use molecular dynamics simulations to study the formation of surface waves in vertically vibrated granular material. We find that horizontal movements of particles, which are essential for the formation of the waves, consist of two…