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Intrinsically elastic robots surpass their rigid counterparts in a range of different characteristics. By temporarily storing potential energy and subsequently converting it to kinetic energy, elastic robots are capable of highly dynamic…
Precise grasp force regulation in tendon-driven surgical instruments is fundamentally limited by nonlinear coupling between motor dynamics, transmission compliance, friction, and distal mechanics. Existing solutions typically rely on distal…
The manipulation of deformable linear flexures has a wide range of applications in industry, such as cable routing in automotive manufacturing and textile production. Cable routing, as a complex multi-stage robot manipulation scenario, is a…
Retrieving rich contact information from robotic tactile sensing has been a challenging, yet significant task for the effective perception of object properties that the robot interacts with. This work is dedicated to developing an algorithm…
Shape sensing of medical continuum robots is important both for closed-loop control as well as for enabling the clinician to visualize the robot inside the body. There is a need for inexpensive, but accurate shape sensing technologies. This…
Parallel robots (PRs) allow for higher speeds in human-robot collaboration due to their lower moving masses but are more prone to unintended contact. For a safe reaction, knowledge of the location and force of a collision is useful. A novel…
Robotic manipulation tasks such as inserting a key into a lock or plugging a USB device into a port can fail when visual perception is insufficient to detect misalignment. In these situations, touch sensing is crucial for the robot to…
Animals in nature combine multiple modalities, such as sight and feel, to perceive terrain and develop an understanding of how to walk on uneven terrain in a stable manner. Similarly, legged robots need to develop their ability to stably…
The potential diagnostic applications of magnet-actuated capsules have been greatly increased in recent years. For most of these potential applications, accurate position control of the capsule have been highly demanding. However, the…
Many of today's robot perception systems aim at accomplishing perception tasks that are too simplistic and too hard. They are too simplistic because they do not require the perception systems to provide all the information needed to…
Manipulating fragile deformable containers, such as disposable plastic cups filled with liquid, demands real-time grip-force adaptation within an extremely narrow force margin: insufficient force causes slip, while excessive force…
This paper presents a novel model-free method for humanoid-robot quasi-static movement control. Traditional model-based methods often require precise robot model parameters. Additionally, existing learning-based frameworks often train the…
In many applications, robots are increasingly deployed in unstructured and natural environments where they encounter various types of vegetation. Vegetation presents unique challenges as a traversable obstacle, where the mechanical…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
Perception in robot manipulation has been actively explored with the goal of advancing and integrating vision and touch for global and local feature extraction. However, it is difficult to perceive certain object internal states, and the…
How are robots becoming smarter at interacting with their surroundings? Recent advances have reshaped how robots use tactile sensing to perceive and engage with the world. Tactile sensing is a game-changer, allowing robots to embed…
As both legged robots and embedded compute have become more capable, researchers have started to focus on field deployment of these robots. Robust autonomy in unstructured environments requires perception of the world around the robot in…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…
Perception and decision-making in high-speed dynamic scenarios remain challenging for current robots. In contrast, humans and animals can rapidly perceive and make decisions in such environments. Taking table tennis as a typical example,…
Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains challenging for robotic systems. Such tasks exceed the…