Related papers: Prismatic-Bending Transformable (PBT) Joint for a …
This study proposes a novel robotic hand that can achieve self-adaptive grasping and a large payload (over 20 kg) with a single actuator. Accordingly, two novel mechanisms, an actuation system with self-motion switching and a self-adaptive…
Mobile manipulators typically encounter significant challenges in navigating narrow, cluttered environments due to their high-dimensional state spaces and complex kinematics. While reactive methods excel in dynamic settings, they struggle…
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…
Model-based planning in robotic domains is challenged by the hybrid nature of physical dynamics, where continuous motion is punctuated by discrete events such as contacts and impacts. Conventional latent world models typically employ…
Probabilistic representations of movement primitives open important new possibilities for machine learning in robotics. These representations are able to capture the variability of the demonstrations from a teacher as a probability…
Soft robotic manipulators provide numerous advantages over conventional rigid manipulators in fragile environments such as the marine environment. However, developing analytic inverse models necessary for shape, motion, and force control of…
Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…
In this study, we introduce a novel Mylar-based pouch motor design that leverages the reversible actuation capabilities of Peltier junctions to enable agonist-antagonist muscle mimicry in soft robotics. Addressing the limitations of…
Although the multi-jointed underactuated manipulator is highly dexterous, its grasping capacity does not match that of the parallel jaw gripper. This work introduces a fractal gripper to enhance the grasping capacity of multi-joint…
Cloth manipulation is a category of deformable object manipulation of great interest to the robotics community, from applications of automated laundry-folding and home organizing and cleaning to textiles and flexible manufacturing. Despite…
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…
This paper presents a novel concept to support physically impaired humans in daily object manipulation tasks with a robot. Given a user's manipulation sequence, we propose a predictive model that uniquely casts the user's sequential…
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…
This paper presents a novel position control strategy for a single-link flexible manipulator, tailored for applications where precise position must be achieved within strict time constraints. To accomplish this objective, firstly, a nested…
This paper presents a physical interface for collaborative mobile manipulators in industrial manufacturing and logistics applications. The proposed work builds on our earlier MOCA-MAN interface, through which an operator could be physically…
Most industrial machine tools have a serial kinematic architecture, which means that each axis has to carry the following one, including its actuators and joints. High Speed Machining highlights some drawbacks of such architectures: heavy…
Deformable object manipulation (DOM) is an emerging research problem in robotics. The ability to manipulate deformable objects endows robots with higher autonomy and promises new applications in the industrial, services, and healthcare…
Legged manipulators extend robotic capabilities beyond static manipulation by integrating agile locomotion with versatile arm control. However, achieving precise manipulation while maintaining coordinated locomotion remains a major…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…
The Piecewise Constant Curvature (PCC) model is the most widely used soft robotic modeling and control. However, the PCC fails to accurately describe the deformation of the soft robots when executing dynamic tasks or interacting with the…