Related papers: Vertical Vibratory Transport of Grasped Parts Usin…
Frictional weakening by vibrations was first invoked in the 70's to explain unusual fault slips and earthquakes, low viscosity during the collapse of impact craters or the extraordinary mobility of sturzstroms, peculiar rock avalanches…
This paper presents a new dual quaternion-based formulation for pose-based visual servoing. Extending our previous work on local contact moment (LoCoMo) based grasp planning, we demonstrate grasping of arbitrarily moving objects in 3D…
Legged robot locomotion on sand slopes is challenging due to the complex dynamics of granular media and how the lack of solid surfaces can hinder locomotion. A promising strategy, inspired by ghost crabs and other organisms in nature, is to…
We propose a macroscopic realization of planar Brownian motion by vertically vibrated disks. We perform a systematic statistical analysis of many random trajectories of individual disks. The distribution of increments is shown to be almost…
Humans can quickly determine the force required to grasp a deformable object to prevent its sliding or excessive deformation through vision and touch, which is still a challenging task for robots. To address this issue, we propose a novel…
The properties and applications of auxetics have been widely explored in the past years. Through proper utilization of auxetic structures, designs with unprecedented mechanical and structural behaviors can be produced. Taking advantage of…
Planning accurate manipulation for deformable objects requires prediction of their state. The prediction is often complicated by a loss of stability that may result in collapse of the deformable object. In this work, stability of a fabric…
This paper studies the time-optimal path tracking problem for a team of cooperating robotic manipulators carrying an object. Considering the problem for rigidly grasped objects, we show that it can be cast as a convex optimization problem…
This paper presents and experimentally demonstrates a novel framework for variable assistance on lower body exoskeletons, based upon safety-critical control methods. Existing work has shown that providing some freedom of movement around a…
A new kind of contactless pumping mechanism is realized in a layer of ferrofluid via a spatio-temporally modulated magnetic field. The resulting pressure gradient leads to a liquid ramp, which is measured by means of X-rays. The transport…
Subway rail vibrations result in serious problems in urban railway systems as they cause structural damage, as well as increase noise pollution and discomfort of passengers. This paper aims to present an experimental study on the…
Relativity, time reversal invariance in mechanics and principle of causality can be in the bases of a type of vibration of the extensive objects. It is because, the detailed analysis of the relativistic movement of an extensive body entail…
Objective: Evaluate the feasibility and potential impacts on hand function using a wearable stimulation device (the VTS Glove) which provides mechanical, vibratory input to the affected limb of chronic stroke survivors. Methods: A…
We investigate the influence of particle stiffness on the grasping performance of granular grippers, a class of soft robotic effectors that utilize granular jamming for object manipulation. Through experimental analyses and X-ray imaging,…
Vacuum Suction Grabbing Technology. The primary objective of this study was to design the grabbing technique used to determine the vacuum suction gripper and its design parameters for the pocket welting operation in apparel manufacturing.…
Robot arms that assist humans should be able to pick up, move, and release everyday objects. Today's assistive robot arms use rigid grippers to pinch items between fingers; while these rigid grippers are well suited for large and heavy…
Grabbing virtual objects is one of the essential tasks for Augmented, Virtual, and Mixed Reality applications. Modern applications usually use a simple pinch gesture for grabbing and moving objects. However, picking up objects by pinching…
Functional lifting methods provide a tool for approximating solutions of difficult non-convex problems by embedding them into a larger space. In this work, we investigate a mathematically rigorous formulation based on embedding into the…
Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…
The paper presents a new study method of mechanic vibrations with the help of the data acquisition systems. The study of vibrations with the help of data acquisition systems allows the solving of some engineering problems connected to the…