Related papers: Analysis of Various Manipulator Configurations Bas…
Force modulation of robotic manipulators has been extensively studied for several decades. However, it is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance…
Configurable robots are made up of robotic modules that can be assembled or can configure themselves into multiple robot configurations. In this research plan, a method for upper-body rehabilitation will be discussed in the form of a…
Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing…
Motion control of mobile manipulators (a robotic arm mounted on a mobile base) can be challenging for complex tasks such as material and package handling. In this paper, a task-space stabilization controller based on Nonlinear Model…
Recent advances in vision, language, and multimodal learning have substantially accelerated progress in robotic foundation models, with robot manipulation remaining a central and challenging problem. This survey examines robot manipulation…
One major recurring challenge in deploying manipulation robots is determining the optimal placement of manipulators to maximize performance. This challenge is exacerbated in complex, cluttered agricultural environments of high-value crops,…
The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or six-axis machining applications. In the last…
Aerial manipulators based on conventional multirotors can conduct manipulation only in small roll and pitch angles due to the underactuatedness of the multirotor base. If the multirotor base is capable of hovering at arbitrary orientation,…
Aerial manipulators, which combine robotic arms with multi-rotor drones, face strict constraints on arm weight and mechanical complexity. In this work, we study a lightweight 2-degree-of-freedom (DoF) arm mounted on a quadrotor via a…
The performance of industrial robotic work cells depends on optimizing various hyperparameters referring to the cell layout, such as robot base placement, tool placement, and kinematic design. Achieving this requires a bilevel optimization…
This paper proposes the multi objective variant of the recently introduced fitness dependent optimizer (FDO). The algorithm is called a Multi objective Fitness Dependent Optimizer (MOFDO) and is equipped with all five types of knowledge…
The rapid advancement of high degree-of-freedom (DoF) serial manipulators necessitates the use of swift, sampling-based motion planners for high-dimensional spaces. While sampling-based planners like the Rapidly-Exploring Random Tree (RRT)…
Soft robotics holds transformative potential for enabling adaptive and adaptable systems in dynamic environments. However, the interplay between morphological and control complexities and their collective impact on task performance remains…
Customization of manipulator configurations using modularity and reconfigurability aspects is receiving much attention. Modules presented so far in literature deals with the conventional and standard configurations. This paper presents the…
Various methods for robot design optimization have been developed so far. These methods are diverse, ranging from numerical optimization to black-box optimization. While numerical optimization is fast, it is not suitable for cases involving…
The current dominant paradigm for robotic manipulation involves two separate stages: manipulator design and control. Because the robot's morphology and how it can be controlled are intimately linked, joint optimization of design and control…
Robotic manipulators are widely used in various industries for complex and repetitive tasks. However, they remain vulnerable to unexpected hardware failures. In this study, we address the challenge of enabling a robotic manipulator to…
Multi-robot formation control enables robots to cooperate as a working group in completing complex tasks, which has been widely used in both civilian and military scenarios. Before moving to reach a given formation, each robot should choose…
Parameterizing finger rolling and finger-object contacts in a differentiable manner is important for formulating dexterous manipulation as a trajectory optimization problem. In contrast to previous methods which often assume simplified…
The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the…