Related papers: Reconfigurable Auxetic Devices (RADs) for Robotic …
In the context of telehealth, robotic approaches have proven a valuable solution to in-person visits in remote areas, with decreased costs for patients and infection risks. In particular, in ultrasonography, robots have the potential to…
Intelligent agents must be able to think fast and slow to perform elaborate manipulation tasks. Reinforcement Learning (RL) has led to many promising results on a range of challenging decision-making tasks. However, in real-world robotics,…
The uncertainties in material and other properties of structures are usually spatially correlated. We introduce an efficient technique for representing and processing spatially correlated random fields in robust topology optimisation of…
Cork is a natural amorphous material with near-zero Poisson's ratio that is ubiquitously used for sealing glass bottles. It is an anisotropic, transversally isotropic, composite that can hardly be scaled down. Here, we propose a new class…
Synthetic Aperture Radar (SAR) utilizes the movement of the radar antenna over a specific area of interest to achieve higher spatial resolution imaging. In this paper, we aim to investigate the realization of SAR imaging for a stationary…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
Lattice-based modular robot systems are envisioned for large-scale construction in extreme environments, such as space. Coupling mechanisms for heterogeneous structural modules should meet all of the following requirements: single-sided…
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interactions with…
Search and rescue (SAR) robots are required to quickly traverse terrain and perform high-force rescue tasks, necessitating both terrain adaptability and controlled high-force output. Few platforms exist today for SAR, and fewer still have…
Auxetic materials, or negative-Poisson's-ratio materials, are important technologically and fascinating theoretically. When loaded by external stresses, their internal strains are governed by correlated motion of internal structural degrees…
Manipulation surfaces indirectly control and reposition objects by actively modifying their shape or properties rather than directly gripping objects. These surfaces, equipped with dense actuator arrays, generate dynamic deformations.…
This paper introduces a cube-based reconfigurable robot that utilizes an electromagnet-based actuation framework to reconfigure in three dimensions via pivoting. While a variety of actuation mechanisms for self-reconfigurable robots have…
Distributed Manipulator Systems, composed of arrays of robotic actuators necessitate dense actuator arrays to effectively manipulate small objects. This paper presents a system composed of modular 3-DoF robotic tiles interconnected by a…
This paper introduces a learning-based framework for robot adaptive manipulating the object with a revolute joint in unstructured environments. We concentrate our discussion on various cabinet door opening tasks. To improve the performance…
Recent advances in additive manufacturing methods make it possible, for the first time, to manufacture complex micro-architectured solids that achieve desired stress versus strain responses. Here, we report experimental measurements and…
Metastructured auxetic patches, characterized by negative Poisson's ratios, offer unique mechanical properties that closely resemble the behavior of human tissues and organs. As a result, these patches have gained significant attention for…
A lattice approach is used to describe the mechanical interaction of a corroding reinforcement bar, the surrounding concrete and the interface between steel reinforcement and concrete. The cross-section of the ribbed reinforcement bar is…
Lattice structures have great potential for several application fields ranging from medical and tissue engineering to aeronautical one. Their development is further speeded up by the continuing advances in additive manufacturing…
Intelligence lies not only in the brain (decision-making processes) but in the body (physical morphology). The morphology of robots can significantly influence how they interact with the physical world, crucial for manipulating objects in…
The ability to deal with articulated objects is very important for robots assisting humans. In this work, a framework to robustly and adaptively operate common doors, using an autonomous mobile manipulator, is proposed. To push forward the…