Related papers: Improving Grip Stability Using Passive Compliant M…
This paper presents a novel industrial robotic gripper with a high grasping speed (maximum: 1396 mm/s), high tip force (maximum: 80 N) for grasping, large motion range, and lightweight design (0.3 kg). To realize these features, the…
This letter proposes a novel single-fingered reconfigurable robotic gripper for grasping objects in narrow working spaces. The finger of the developed gripper realizes two configurations, namely, the insertion and grasping modes, using only…
Soft robotics has emerged as a promising technology that holds great potential for various application areas. This is due to soft materials unique properties, including flexibility, safety, and shock absorption, among others. Despite many…
Grasping, in both biological and engineered mechanisms, can be highly sensitive to the gripper and object morphology, as well as perception, and motion planning. Here we circumvent the need for feedback or precise planning by using an array…
Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…
Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…
The exploration of the lunar poles and the collection of samples from the martian surface are characterized by shorter time windows demanding increased autonomy and speeds. Autonomous mobile robots must intrinsically cope with a wider range…
The rise in additive manufacturing comes with unique opportunities and challenges. Massive part customization and rapid design changes are made possible with additive manufacturing, however, manufacturing industries that desire the…
Many possible fields of application of robots in real world settings hinge on the ability of robots to grasp objects. As a result, robot grasping has been an active field of research for many years. With our publication we contribute to the…
In nature, a variety of limbless locomotion patterns flourish from the small or basic life form (Escherichia coli, the amoeba, etc.) to the large or intelligent creatures (e.g., slugs, starfishes, earthworms, octopuses, jellyfishes, and…
Legged robots leverage ground contacts and the reaction forces they provide to achieve agile locomotion. However, uncertainty coupled with contact discontinuities can lead to failure, especially in real-world environments with unexpected…
A representation gap exists between grasp synthesis for rigid and soft grippers. Anygrasp [1] and many other grasp synthesis methods are designed for rigid parallel grippers, and adapting them to soft grippers often fails to capture their…
Autonomous grasping of novel objects that are previously unseen to a robot is an ongoing challenge in robotic manipulation. In the last decades, many approaches have been presented to address this problem for specific robot hands. The…
Traversing risky terrains with sparse footholds presents significant challenges for legged robots, requiring precise foot placement in safe areas. To acquire comprehensive exteroceptive information, prior studies have employed motion…
Snakes can move through almost any terrain. Similarly, snake robots hold the promise as a versatile platform to traverse complex environments like earthquake rubble. Unlike snake locomotion on flat surfaces which is inherently stable, when…
This paper presents a novel, modular, cable-driven soft robotic arm featuring multi-segment reconfigurability. The proposed architecture enables a stackable system with independent segment control, allowing scalable adaptation to diverse…
Achieving human-like dexterity in robotic grippers remains an open challenge, particularly in ensuring robust manipulation in uncertain environments. Soft robotic hands try to address this by leveraging passive compliance, a characteristic…
Biological systems, such as the octopus, exhibit masterful cross-scale manipulation by adaptively reconfiguring their entire form, a capability that remains elusive in robotics. Conventional soft grippers, while compliant, are mostly…
The functional demands of robotic systems often require completing various tasks or behaviors under the effect of disturbances or uncertain environments. Of increasing interest is the autonomy for dynamic robots, such as multirotors, motor…
Despite extensive studies on motion stabilization of bipeds, they still suffer from the lack of disturbance coping capability on slippery surfaces. In this paper, a novel controller for stabilizing a bipedal motion in its sagittal plane is…