Related papers: MagRobot:An Open Simulator for Magnetically Naviga…

Miniature magnetic tools have the potential to enable minimally invasive surgical techniques to be applied to space-restricted surgical procedures in areas such as neurosurgery. However, typical magnetic navigation systems, which create the…

This paper presents an open-source MATLAB/Simulink physics simulator for rigid-body articulated systems, including manipulators and floating-base robots. Thanks to MATLAB/Simulink features like MATLAB system classes and Simulink function…

Designing a robotic system that functions effectively within the specific environment of a Magnetic Resonance Imaging (MRI) scanner requires solving numerous technical issues, such as maintaining the robot's precision and stability under…

Physics simulators are widely used in robotics fields, from mechanical design to dynamic simulation, and controller design. This paper presents an open-source MATLAB/Simulink simulator for rigid-body articulated systems, including…

Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…

Soft robots are powerful tools for manipulating delicate objects, yet their adoption is hindered by two gaps: the lack of integrated tactile sensing and sensor signal distortion caused by actuator deformations. This paper addresses these…

A robot simulation system is a basic need for any robotics application. With it, developers' teams of robots can test their algorithms and make initial calibrations without risk of damage to the real robots, assuring safety. However,…

Low-cost autonomous Micro Aerial Vehicles (MAVs) have the potential to help humans by simplifying and speeding up complex tasks that require their interaction with the environment, such as construction, package delivery, and search and…

Emerging paradigms furthering the reach of medical technology deeper into human anatomy present unique modeling, control and sensing problems. This paper discusses a brief history of medical robotics leading to the current trend of…

Magnetic soft robots have attracted growing interest due to their unique advantages in terms of untethered actuation and excellent controllability. However, finding the required magnetization patterns or magnetic fields to achieve the…

Magnetic navigation offers wireless control over magnetic objects, which has important medical applications, such as targeted drug delivery and minimally invasive surgery. Magnetic navigation systems are categorized into systems using…

Simulators are a critical component of modern robotics research. Strategies for both perception and decision making can be studied in simulation first before deployed to real world systems, saving on time and costs. Despite significant…

Laminate mechanisms are a reliable concept in producing lowcost robots for educational and commercial purposes. These mechanisms are produced using low-cost manufacturing techniques which have improved significantly during recent years and…

In this paper we present a simulation framework for the evaluation of the navigation and localization metrological performances of a robotic platform. The simulator, based on ROS (Robot Operating System) Gazebo, is targeted to a…

Current capsule endoscopes and next-generation robotic capsules for diagnosis and treatment of gastrointestinal diseases are complex cyber-physical platforms that must orchestrate complex software and hardware functions. The desired tasks…

To extend the limited scope of autonomy used in prior missions for operation in distant and complex environments, there is a need to further develop and mature autonomy that jointly reasons over multiple subsystems, which we term…

Pogobots are a new type of open-source/open-hardware robots specifically designed for swarm robotics research. Their cost-effective and modular design, complemented by vibration-based and wheel-based locomotion, fast infrared communication…

With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…

Navigation and manipulation are core capabilities in Embodied AI, yet training agents with these capabilities in the real world faces high costs and time complexity. Therefore, sim-to-real transfer has emerged as a key approach, yet the…

Flexible robots hold great promise for enhancing minimally invasive surgery (MIS) by providing superior dexterity, precise control, and safe tissue interaction. Yet, translating these advantages into endoscopic interventions within open…