Related papers: Improving Grip Stability Using Passive Compliant M…
Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve…
Attaining animal-like legged locomotion on rough outdoor terrain with sparse foothold affordances -a primary use-case for legs vs other forms of locomotion- is a largely open problem. New advancements in control and perception have enabled…
Living systems are built of multiscale-composites: materials formed of components with different properties that are assembled in complex micro- and nano-structures. Such biological multiscale-composites often show outstanding physical…
Under-actuated robot grippers as a pervasive tool of robots have become a considerable research focus. Despite their simplicity of mechanical design and control strategy, they suffer from poor versatility and weak adaptability, making…
Limitations in actuation, sensing, and computation have forced small legged robots to rely on carefully tuned, mechanically mediated leg trajectories for effective locomotion. Recent advances in manufacturing, however, have enabled the…
This paper proposes a modular framework to generate robust biped locomotion using a tight coupling between an analytical walking approach and deep reinforcement learning. This framework is composed of six main modules which are…
Fine robotic assembly, in which the parts to be assembled are small and fragile and lie in an unstructured environment, is still out of reach of today's industrial robots. The main difficulties arise in the precise localization of the parts…
Multi-legged mobile robots possess high mobility performance in rough terrain environments, stemming from their high postural stability, joint flexibility, and the redundancy provided by multiple legs. In prior research on navigating…
Kinodynamic motion planning for non-holomonic mobile robots is a challenging problem that is lacking a universal solution. One of the computationally efficient ways to solve it is to build a geometric path first and then transform this path…
Fine assembly tasks such as electrical connector insertion have tight tolerances and sensitive components, limiting the speed and robustness of robot assembly, even when using vision, tactile, or force sensors. Connector insertion is a…
In this work, we provide a simulation framework to perform systematic studies on the effects of spinal joint compliance and actuation on bounding performance of a 16-DOF quadruped spined robot Stoch 2. Fast quadrupedal locomotion with…
Underwater soft grippers exhibit potential for applications such as monitoring, research, and object retrieval. However, existing underwater gripping techniques frequently cause disturbances to ecosystems. In response to this challenge, we…
Agile-legged robots have proven to be highly effective in navigating and performing tasks in complex and challenging environments, including disaster zones and industrial settings. However, these applications normally require the capability…
Most legged robots are built with leg structures from serially mounted links and actuators and are controlled through complex controllers and sensor feedback. In comparison, animals developed multi-segment legs, mechanical coupling between…
One of the trendsetting themes in soft robotics has been the goal of developing the ultimate universal soft robotic gripper. One that is capable of manipulating items of various shapes, sizes, thicknesses, textures, and weights. All the…
This paper introduces the TacFR-Gripper, a reconfigurable Fin Ray-based soft and compliant robotic gripper equipped with tactile skin, which can be used for dexterous in-hand manipulation tasks. This gripper can adaptively grasp objects of…
Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…
Soft robots have a myriad of potentials because of their intrinsically compliant bodies, enabling safe interactions with humans and adaptability to unpredictable environments. However, most of them have limited actuation speeds, require…
This paper addresses the problem of selecting from a choice of possible grasps, so that impact forces will be minimised if a collision occurs while the robot is moving the grasped object along a post-grasp trajectory. Such considerations…
This paper presents a planning pipeline framework for locomotion in rope-assisted robots climbing vertical surfaces. The proposed framework is formulated as a bi-level optimization scheme that addresses a mixed-integer problem: selecting…