Related papers: REWW-ARM -- Remote Wire-Driven Mobile Robot: Desig…
Operating in environments too harsh or inaccessible for humans is one of the critical roles expected of robots. However, such environments often pose risks to electronic components as well. To overcome this, various approaches have been…
Robotic arms are essential to modern industries, however, their adaptability to unstructured environments remains limited. Soft robotic arms, particularly those actuated pneumatically, offer greater adaptability in unstructured environments…
For robots to become more versatile and expand their areas of application, their bodies need to be suitable for contact with the environment. When the human body comes into contact with the environment, it is possible for it to continue to…
This work introduces a solution to enhance human-robot interaction over limited wireless connectivity. The goal is toenable remote control of a robot through a virtual reality (VR)interface, ensuring a smooth transition to autonomous mode…
Simulation-based reinforcement learning (RL) has significantly advanced humanoid locomotion tasks, yet direct real-world RL from scratch or adapting from pretrained policies remains rare, limiting the full potential of humanoid robots.…
Compared with gears and linkages, wires constitute a lightweight, low-friction transmission mechanism. However, because wires are flexible materials, they tend to introduce large modeling errors, and their adoption in industrial and…
This paper proposes and implements a meter-range wireless motor drive (WMD) system for promising applications of underground pipeline transportations or in-pipe robots. To power a pipeline network beneath the earth, both the power grid and…
Collaborative robots must simultaneously be safe enough to operate in close proximity to human operators and powerful enough to assist users in industrial tasks such as lifting heavy equipment. The requirement for safety necessitates that…
Wheeled-legged robots, which have wheels at their feet and achieve high mobility by coordinating wheel drive and leg drive, have been developed. These robots have been developed purely as platforms specialized for locomotion. Therefore,…
In order to expand the operational range and payload capacity of robots, wire-driven robots that leverage the external environment have been proposed. It can exert forces and operate in spaces far beyond those dictated by its own structural…
Mobile manipulator robots operating in complex domestic and industrial environments must effectively coordinate their base and arm motions while avoiding obstacles. While current reactive control methods gracefully achieve this…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
We study how robots can autonomously learn skills that require a combination of navigation and grasping. While reinforcement learning in principle provides for automated robotic skill learning, in practice reinforcement learning in the real…
Wireless energy transfer (WET) is a ground-breaking technology for cutting the last wire between mobile sensors and power grids in smart cities. Yet, WET only offers effective transmission of energy over a short distance. Robotic WET is an…
Numerous wearable robots have been developed to meet the demands of physical assistance and entertainment. These wearable robots range from body-enhancing types that assist human arms and legs to body-extending types that have extra arms.…
Robotic sensorimotor extensions (supernumerary limbs, prosthesis, handheld tools) are worn devices used to interact with the nearby environment, whether to assist the capabilities of impaired users or to enhance the dexterity of industrial…
Robotic manipulation in human environments is a challenging problem for researchers and industry alike. In particular, opening doors/drawers can be challenging for robots, as the size, shape, actuation and required force is variable.…
In this paper we consider the coverage control problem for a team of wire-traversing robots. The two-dimensional motion of robots moving in a planar environment has to be projected to one-dimensional manifolds representing the wires.…
We introduce multi-task Visuo-Tactile World Models (VT-WM), which capture the physics of contact through touch reasoning. By complementing vision with tactile sensing, VT-WM better understands robot-object interactions in contact-rich…
Wheeled robots have gained significant attention due to their wide range of applications in manufacturing, logistics, and service industries. However, due to the difficulty of building a highly accurate dynamics model for wheeled robots,…