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While most insect-inspired robots come with a simple tarsus such as a hemispherical foot tip, insect legs have complex tarsal structures and claws, which enable them to walk on complex terrain. Their sharp claws can smoothly attach and…
Muscular hydrostats, such as octopus arms or elephant trunks, lack bones entirely, endowing them with exceptional dexterity and reconfigurability. Key to their unmatched ability to control nearly infinite degrees of freedom is the…
Coarse-Grained Reconfigurable Arrays (CGRAs) hold great promise as power-efficient edge accelerator, offering versatility beyond AI applications. Morpher, an open-source, architecture-adaptive CGRA design framework, is specifically designed…
End-to-end event-based computation has the potential to push the envelope in latency and energy efficiency for edge AI applications. Unfortunately, event-based sensors (e.g., DVS cameras) and neuromorphic spike-based processors (e.g.,…
While parallel grippers and multi-fingered robotic hands are well developed and commonly used in structured settings, it remains a challenge in robotics to design a highly articulated robotic hand that can be comparable to human hands to…
Reliable object grasping is a crucial capability for autonomous robots. However, many existing grasping approaches focus on general clutter removal without explicitly modeling objects and thus only relying on the visible local geometry. We…
Fruit harvesting has recently experienced a shift towards soft grippers that possess compliance, adaptability, and delicacy. In this context, pneumatic grippers are popular, due to provision of high deformability and compliance, however…
Tactile sensing plays a crucial role in robot grasping and manipulation by providing essential contact information between the robot and the environment. In this paper, we present AllTact Fin Ray, a novel compliant gripper design with…
Functional grasping with dexterous robotic hands is a key capability for enabling tool use and complex manipulation, yet progress has been constrained by two persistent bottlenecks: the scarcity of large-scale datasets and the absence of…
Robotic grasping faces challenges in adapting to objects with varying shapes and sizes. In this paper, we introduce MISCGrasp, a volumetric grasping method that integrates multi-scale feature extraction with contrastive feature enhancement…
Handling fragile objects remains a major challenge for robotic manipulation. Tactile sensing and soft robotics can improve delicate object handling, but typically involve high integration complexity or slow response times. We address these…
In our daily life, we often encounter objects that are fragile and can be damaged by excessive grasping force, such as fruits. For these objects, it is paramount to grasp gently -- not using the maximum amount of force possible, but rather…
A compact large-range six-degrees-of-freedom (six-DOF) parallel positioning system with high resolution, high resonant frequency, and high repeatability was proposed. It mainly consists of three identical kinematic sections. Each kinematic…
The version 3.0 of the DELPHES fast-simulation is presented. The goal of DELPHES is to allow the simulation of a multipurpose detector for phenomenological studies. The simulation includes a track propagation system embedded in a magnetic…
Collecting manipulation demonstrations with robotic hardware is tedious - and thus difficult to scale. Recording data on robot hardware ensures that it is in the appropriate format for Learning from Demonstrations (LfD) methods. By…
Multimodal embeddings serve as a bridge for aligning vision and language, with the two primary implementations -- CLIP-based and MLLM-based embedding models -- both limited to capturing only global semantic information. Although numerous…
Jellyfish cyborgs present a promising avenue for soft robotic systems, leveraging the natural energy-efficiency and adaptability of biological systems. Here we demonstrate a novel approach to predicting and controlling jellyfish locomotion…
In this paper, we present a transformer-based architecture, namely TF-Grasp, for robotic grasp detection. The developed TF-Grasp framework has two elaborate designs making it well suitable for visual grasping tasks. The first key design is…
Most traditional robotic mechanisms feature inelastic joints that are unable to robustly handle large deformations and off-axis moments. As a result, the applied loads are transferred rigidly throughout the entire structure. The…
SLOT (Soft Legged Omnidirectional Tetrapod), a tendon-driven soft quadruped robot with 3D-printed TPU legs, is presented to study physics-informed modeling and control of compliant legged locomotion using only four actuators. Each leg is…