Related papers: Load-Based Variable Transmission Mechanism for Rob…
This paper presents a robotic system where the gear-ratio of an actuator is dynamically changed to either leverage or attenuate the natural load dynamics. Based on this principle, lightweight robotic systems can be made fast and strong;…
Vehicle power-trains use a variable transmission (multiple gear-ratios) to minimize motor size and maximize efficiency while meeting a wide-range of operating points. Robots could similarly benefit from variable transmission to save weight…
Industrial manipulators do not collapse under their own weight when powered off due to the friction in their joints. Although these mechanism are effective for stiff position control of pick-and-place, they are inappropriate for legged…
Robots are increasingly being deployed not only in workplaces but also in households. Effectively execute of manipulation tasks by robots relies on variable impedance control with contact forces. Furthermore, robots should possess adaptive…
Unknown dynamic load carrying is one important practical application for quadruped robots. Such a problem is non-trivial, posing three major challenges in quadruped locomotion control. First, how to model or represent the dynamics of the…
Robotic legs have bimodal operations: swing phases when the leg needs to move quickly in the air (high-speed, low-force) and stance phases when the leg bears the weight of the system (low-speed, high-force). Sizing a traditional…
Autonomous manipulation in robot arms is a complex and evolving field of study in robotics. This paper introduces an innovative approach to this challenge by focusing on imitation learning (IL). Unlike traditional imitation methods, our…
Agile-legged robots have proven to be highly effective in navigating and performing tasks in complex and challenging environments, including disaster zones and industrial settings. However, these applications normally require the capability…
Quadruped robots face limitations in long-range navigation efficiency due to their reliance on legs. To ameliorate the limitations, we introduce a Reinforcement Learning-based Active Transporter Riding method (\textit{RL-ATR}), inspired by…
In this work, we study how to build a robotic system that can solve multiple 3D manipulation tasks given language instructions. To be useful in industrial and household domains, such a system should be capable of learning new tasks with few…
Magnetic Levitation (MagLev) systems fundamentally increase the flexibility of in-machine material flow in industrial automation. Therefore, these systems enable dynamic throughput optimization, which is especially beneficial for high-mix…
In this paper we present an effective analytical modeling approach for the design of the transmission of electric vehicles. Specifically, we first devise an analytical loss model for an electric machine and show that it can be accurately…
Transfer Learning (TL) is a powerful tool that enables robots to transfer learned policies across different environments, tasks, or embodiments. To further facilitate this process, efforts have been made to combine it with Learning from…
Wearable robots are limited by their actuators performances because they must bear the weight of their own power system and energy source. This paper explores the idea of leveraging hybrid modes to meet multiple operating points with a…
Due to their ability to adapt to different terrains, quadruped robots have drawn much attention in the research field of robot learning. Legged mobile manipulation, where a quadruped robot is equipped with a robotic arm, can greatly enhance…
Learning representations in the joint domain of vision and touch can improve manipulation dexterity, robustness, and sample-complexity by exploiting mutual information and complementary cues. Here, we present Visuo-Tactile Transformers…
Left ventricular assist devices (LVADs) are mechanical pumps, which can be used to support heart failure (HF) patients as bridge to transplant and destination therapy. To automatically adjust the LVAD speed, a physiological control system…
Precise and high-fidelity force control is critical for new generations of robots that interact with humans and unknown environments. Mobile robots, such as wearable devices and legged robots, must also be lightweight to accomplish their…
The paper deals with coupled systems including hand-operated balanced manipulators and lightweight robots. The aim of such a cooperation is to displace heavy payloads with less powerful robots. In other term, in the coupled system for…
In the fields of agricultural machinery, construction equipment, and special-purpose vehicles, hydrostatic transmission (HST) drive systems have witnessed a significant increase in market penetration. With the rapid development of…