Related papers: Shell-Type Soft Jig for Holding Objects during Dis…
In this study, we present the Differential Spiral Joint (DSJ) mechanism for variable stiffness actuation in tendon-driven robots. The DSJ mechanism semi-decouples the modulation of position and mechanical stiffness, allowing independent…
Granular grippers can manipulate a wide variety of objects, but need to be pressed on the object to conform to it. If the object is placed on unstable ground, e.g., on sand or water, this step might cause the object to sink or move away…
Electric vehicles (EV) create an urgent need for scalable battery recycling, yet disassembly of EV battery packs remains largely manual due to high design variability. We present our Robotic Agentic Platform for Intelligent Disassembly…
Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…
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…
Soft and lightweight grippers have greatly enhanced the performance of robotic manipulators in handling complex objects with varying shape, texture, and stiffness. However, the combination of universal grasping with passive sensing…
External collisions to robot actuators typically pose risks to grasping circular objects. This work presents a vision-based sensing module capable of detecting collisions to maintain stable grasping with a soft gripper system. The system…
Almost all robotic systems in use have hard shells, which is limiting in many ways their full potential of physical interaction with humans or their surrounding environment. Robots with soft-shell covers offer an alternative morphology…
Soft robotic grippers demonstrate great potential for gently and safely handling objects; however, their full potential for executing precise and secure grasping has been limited by the lack of integrated sensors, leading to problems such…
Robot grasping is subject to an inherent tradeoff: Grippers with a large span typically take a longer time to close, and fast grippers usually cover a small span. However, many practical applications of soft grippers require the ability to…
The ability to robustly grasp a variety of objects is essential for dexterous robots. In this paper, we present a framework for zero-shot dynamic dexterous grasping using single-view visual inputs, designed to be resilient to various…
Modular reconfigurable robots require reliable mechanisms for automated module exchange, but conventional rigid active couplings often fail due to inevitable positioning and orientational errors. To address this, we propose a…
Flexible elastic structures, such as beams, rods, ribbons, plates, and shells, exhibit complex nonlinear dynamical behaviors that are central to a wide range of engineering and scientific applications, including soft robotics, deployable…
In this work, we focus on the family of shell formulations referred to as "solid shells", where the simulation of shell-type structures is performed by means of a mesh of 3D solid elements, with typically only one element through the…
Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and…
Snap-fits are versatile mechanical designs in industrial products, which enable the repeated assembling and disassembling of two solid parts. This important property is attributed to a fine balance between geometry, friction, and bending…
Reconstruction of skilled humans sensation and control system often leads to a development of robust control for the robots. We are developing an unscrewing robot for the automated disassembly which requires a comprehensive control system,…
Dynamic in-hand manipulation remains a challenging task for soft robotic systems that have demonstrated advantages in safe compliant interactions but struggle with high-speed dynamic tasks. In this work, we present SWIFT, a system for…
Flexible slender structures such as rods, ribbons, plates, and shells exhibit extreme nonlinear responses bending, twisting, buckling, wrinkling, and self contact, that defy conventional simulation frameworks. Discrete Differential Geometry…