Related papers: Cable-driven Continuum Robotics: Proprioception vi…
Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…
Soft robots offer significant advantages in adaptability, safety, and dexterity compared to conventional rigid-body robots. However, it is challenging to equip soft robots with accurate proprioception and tactile sensing due to their high…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
Cable-driven continuum robots (CDCRs) require accurate, real-time dynamic models for high-speed dynamics prediction or model-based control, making such capability an urgent need. In this paper, we propose the Lightweight Actuation-Space…
Soft pneumatic robot manipulators are popular in industrial and human-interactive applications due to their compliance and flexibility. However, deploying them in real-world scenarios requires advanced sensing for tactile feedback and…
In co-manipulative continuum robots (CCRs), multiple continuum arms cooperate by grasping a common flexible object, forming a closed-chain deformable mechanical system. The closed-chain coupling induces strong dynamic interactions and…
The lack of haptically aware upper-limb prostheses forces amputees to rely largely on visual cues to complete activities of daily living. In contrast, able-bodied individuals inherently rely on conscious haptic perception and automatic…
This paper introduces the Cable Robot Simulation and Control (CaRoSaC) Framework, which integrates a simulation environment with a model-free reinforcement learning control methodology for suspended Cable-Driven Parallel Robots (CDPRs),…
Collaborative robots offer increased interaction capabilities at relatively low cost but in contrast to their industrial counterparts they inevitably lack precision. Moreover, in addition to the robots' own imperfect models, day-to-day…
The collaboration between humans and robots is critical in many robotic applications, especially in those requiring physical human-robot interaction (pHRI). Previous research in pHRI has largely focused on robotic manipulators, employing…
Multirotor aerial robots are becoming widely used for the inspection of powerlines. To enable continuous, robust inspection without human intervention, the robots must be able to perch on the powerlines to recharge their batteries. Highly…
Vision-Language-Action (VLA) models have shown remarkable generalization by mapping web-scale knowledge to robotic control, yet they remain blind to physical contact. Consequently, they struggle with contact-rich manipulation tasks that…
In cable driven parallel robots (CDPRs), the payload is suspended using a network of cables whose length can be controlled to maneuver the payload within the workspace. Compared to rigid link robots, CDPRs provide better maneuverability due…
Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired…
Control of wire-borne underactuated brachiating robots requires a robust feedback control design that can deal with dynamic uncertainties, actuator constraints and unmeasurable states. In this paper, we develop a robust feedback control for…
This paper presents a novel, modular, cable-driven soft robotic arm featuring multi-segment reconfigurability. The proposed architecture enables a stackable system with independent segment control, allowing scalable adaptation to diverse…
Physical human-robot interaction has been an area of interest for decades. Collaborative tasks, such as joint compliance, demand high-quality joint torque sensing. While external torque sensors are reliable, they come with the drawbacks of…
Soft robots enable safe, adaptive interaction with complex environments but remain difficult to sense and control due to their highly deformable structures. Architected soft materials such as helicoid lattices offer tunable stiffness and…
The objective of this paper is to present a systematic review of existing sensor-based control methodologies for applications that involve direct interaction between humans and robots, in the form of either physical collaboration or safe…
Origami offers a versatile framework for designing morphable structures and soft robots by exploiting the geometry of folds. Tubular origami structures can act as continuum manipulators that balance flexibility and strength. However,…