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Soft robotics gripper have shown great promise in handling fragile and geometrically complex objects. However, most existing solutions rely on bulky actuators, complex control strategies, or advanced tactile sensing to achieve stable and…
Developing robotic manipulation policies is iterative and hypothesis-driven: researchers test tactile sensing, gripper geometries, and sensor placements through real-world data collection and training. Yet even minor end-effector changes…
Compliant grippers, owing to adaptivity and safety, have attracted considerable attention for unstructured grasping in real applications, such as industrial or logistic scenarios. However, accurately modeling the bidirectional relationship…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
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.…
This paper proposes a novel robust adaptive model predictive controller for on-orbit dislodging. We study orbit dislodging where a servicing spacecraft uses a robotic arm to free a jammed and unactuated solar panel mounted on a hybrid hinge…
Calibration of fixtures in robotic work cells is essential but also time consuming and error-prone, and poor calibration can easily lead to wasted debugging time in downstream tasks. Contact-based calibration methods let the user measure…
Autonomous excavation for hard or compact materials, especially irregular rigid objects, is challenging due to high variance of geometric and physical properties of objects, and large resistive force during excavation. In this paper, we…
Efficiency and reliability are critical in robotic bin-picking as they directly impact the productivity of automated industrial processes. However, traditional approaches, demanding static objects and fixed collisions, lead to deployment…
Performing long-term experimentation or large-scale data collection for machine learning in the field of soft robotics is challenging, due to the hardware robustness and experimental flexibility required. In this work, we propose a modular…
We present a framework for the simulation of rigid and deformable bodies in the presence of contact and friction. Our method is based on a non-smooth Newton iteration that solves the underlying nonlinear complementarity problems (NCPs)…
This study proposes a soft robotic device with a slim and flexible body that switches between air blowing and suction with a single airflow control. Suction is achieved by jet flow entraining surrounding air, and blowing is achieved by…
This paper presents the first design of a soft, 3D-printed in flexible filament, lightweight UAV, capable of performing full-body perching using soft tendons, specifically landing and stabilizing on pipelines and irregular surfaces without…
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…
Soft adhesive contacts are ubiquitous in nature and are increasingly used in synthetic systems, such as flexible electronics and soft robots, due to their advantages over traditional joining techniques. While methods to study the failure of…
This paper describes a 2D and 3D simulation engine that quantitatively models the statics, dynamics, and non-linear deformation of heterogeneous soft bodies in a computationally efficient manner. There is a large body of work simulating…
Autonomous delivery of goods using a MAV is a difficult problem, as it poses high demand on the MAV's control, perception and manipulation capabilities. This problem is especially challenging if the exact shape, location and configuration…
This paper introduces a novel, small form-factor, aerial vehicle research platform for agile object detection, classification, tracking, and interaction tasks. General-purpose hardware components were designed to augment a given aerial…
This paper explores the production of a specified object using a combination of machining processes, including milling, shaping, and drilling, while emphasizing the critical role of fixture design in ensuring precision repeatability, and…
Nowadays, a number of grasping algorithms have been proposed, that can predict a candidate of grasp poses, even for unseen objects. This enables a robotic manipulator to pick-and-place such objects. However, some of the predicted grasp…