Related papers: Improving Grip Stability Using Passive Compliant M…
Soft robots, inspired by elephant trunks or octopus arms, offer extraordinary flexibility to bend, twist, and elongate in ways that rigid robots cannot. However, their motion planning remains a challenge, especially in cluttered…
Despite significant advancements in robotic manipulation, achieving consistent and stable grasping remains a fundamental challenge, often limiting the successful execution of complex tasks. Our analysis reveals that even state-of-the-art…
This paper presents the design and performance of a screw-propelled redundant serpentine robot. This robot comprises serially linked, identical modules, each incorporating an Archimedes' screw for propulsion and a universal joint (U-Joint)…
The dynamical properties of tensegrity robots give them appealing ruggedness and adaptability, but present major challenges with respect to locomotion control. Due to high-dimensionality and complex contact responses, data-driven approaches…
Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the…
Soft robotic grippers are essential for grasping delicate, geometrically complex objects in manufacturing, healthcare and agriculture. However, existing grippers struggle to grasp feature-rich objects with high topological variability,…
We present a motion planning algorithm with probabilistic guarantees for limbed robots with stochastic gripping forces. Planners based on deterministic models with a worst-case uncertainty can be conservative and inflexible to consider the…
Bipedal robots represent a remarkable and sophisticated class of robotics, designed to emulate human form and movement. Their development marks a significant milestone in the field. However, even the most advanced bipedal robots face…
Designing an in-pipe climbing robot that manipulates sharp gears to study complex line relationships. Traditional rolling/happening pipe climbing robots tend to slide when exploring pipe curves. The proposed gearbox connects to the farthest…
Bistability and snap-through instabilities are central to various mechanisms in nature and engineering, enabling rapid movement and large shape changes with minimal energy input. These phenomena are easily demonstrated by bending a piece of…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
Soft compliant microrobots have the potential to deliver significant societal impact when deployed in applications such as search and rescue. In this research we present mCLARI, a body compliant quadrupedal microrobot of 20mm neutral body…
Pneumatically operated soft growing robots that extend via tip eversion are well-suited for navigation in confined spaces. Adding the ability to interact with the environment using sensors and tools attached to the robot tip would greatly…
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…
Although bipedal locomotion provides the ability to traverse unstructured environments, it requires careful planning and control to safely walk across without falling. This poses an integrated challenge for the robot to perceive, plan, and…
Soft robots have drawn significant attention recently for their ability to achieve rich shapes when interacting with complex environments. However, their elasticity and flexibility compared to rigid robots also pose significant challenges…
Grasping is fundamental to robotic manipulation, and recent advances in large-scale grasping datasets have provided essential training data and evaluation benchmarks, accelerating the development of learning-based methods for robust object…
This paper discusses the design and implementation of the Modular Pipe Climber inside ASTM D1785 - 15e1 standard pipes [1]. The robot has three tracks which operate independently and are mounted on three modules which are oriented at…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
Extensive research has been conducted on assessing grasp stability, a crucial prerequisite for achieving optimal grasping strategies, including the minimum force grasping policy. However, existing works employ basic feature-level fusion…