Related papers: Hybrid Control for Robotic Nut Tightening Task
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…
This paper presents a versatile robotic system for sewing 3D structured object. Leveraging on using a customized robotic sewing device and closed-loop visual servoing control, an all-in-one solution for sewing personalized stent graft is…
Automating suturing during robotically-assisted surgery reduces the burden on the operating surgeon, enabling them to focus on making higher-level decisions rather than fatiguing themselves in the numerous intricacies of a surgical…
In this paper, a reinforced soft robot prototype with a custom-designed actuator-space string encoder are created to investigate dynamic soft robotic trajectory tracking. The soft robot prototype embedded with the proposed adaptive…
Parallel robots based on Handed Shearing Auxetics (HSAs) can implement complex motions using standard electric motors while maintaining the complete softness of the structure, thanks to specifically designed architected metamaterials.…
This paper proposes a hybrid-gain finite-time sliding-mode control (HG-FTSMC) strategy for a class of perturbed nonlinear systems. The controller combines a finite-time reaching law that drives the sliding variable to a predefined boundary…
The flexible body has advantages over the rigid body in terms of environmental contact thanks to its underactuation. On the other hand, when applying conventional control methods to realize dynamic tasks with the flexible body, there are…
This letter proposes a novel single-fingered reconfigurable robotic gripper for grasping objects in narrow working spaces. The finger of the developed gripper realizes two configurations, namely, the insertion and grasping modes, using only…
Studies that broaden drone applications into complex tasks require a stable control framework. Recently, deep reinforcement learning (RL) algorithms have been exploited in many studies for robot control to accomplish complex tasks.…
This paper addresses the problem of mixed initiative, shared control for master-slave grasping and manipulation. We propose a novel system, in which an autonomous agent assists a human in teleoperating a remote slave arm/gripper, using a…
Soft robotics focuses on designing robots with highly deformable materials, allowing them to adapt and operate safely and reliably in unstructured and variable environments. While soft robots offer increased compliance over rigid body…
Robotic simulators provide cost-effective and risk-free virtual environments for studying robotic designs, control algorithms, and sensor integrations. They typically host extensive libraries of sensors and actuators that facilitate rapid…
The human shoulder, with its glenohumeral joint, tendons, ligaments, and muscles, allows for the execution of complex tasks with precision and efficiency. However, current robotic shoulder designs lack the compliance and compactness…
This paper focuses on developing a novel hybrid-haptic (nHH) device with a remote center of rotation with 4 DOFs (degrees of freedom) intendant to be used as a haptic device. The new architecture is composed of two chains handling each one…
Rapid and versatile object manipulation in air is an open challenge. An energy-efficient and adaptive soft gripper combined with an agile aerial vehicle could revolutionize aerial robotic manipulation in areas such as warehousing. This…
Grasping is an essential capability for most robots in practical applications. Soft robotic grippers are considered as a critical part of robotic grasping and have attracted considerable attention in terms of the advantages of the high…
This paper explores the design strategies for hybrid pole- or trunk-climbing robots, focusing on methods to inform design decisions and assess metrics such as adaptability and performance. A wheeled-grasping hybrid robot with modular,…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
The number of sequential tasks a single gripper can perform is significantly limited by its design. In many cases, changing the gripper fingers is required to successfully conduct multiple consecutive tasks. For this reason, several robotic…
This paper introduces a novel design for a robotic hand based on parallel mechanisms. The proposed hand uses a triple-symmetric Bricard linkage as its reconfigurable palm, enhancing adaptability to objects of varying shapes and sizes.…