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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…
Changes in bird populations can indicate broader changes in ecosystems, making birds one of the most important animal groups to monitor. Combining machine learning and passive acoustics enables continuous monitoring over extended periods…
Flutter stability is a dominant design constraint of modern gas and steam turbines. To further increase the feasible design space, flutter-tolerant designs are currently explored, which may undergo Limit Cycle Oscillations (LCOs) of…
The advancement of simulation-assisted robot programming, automation of high-tolerance assembly operations, and improvement of real-world performance engender a need for positionally accurate robots. Despite tight machining tolerances, good…
This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware…
This MS thesis outlines my contributions to the closed loop control and system integration of two robotic platforms: 1) Aerobat, a flapping wing robot stabilized by air jets, and 2) Harpy, a bipedal robot equipped with dual thrusters. Both…
Compared to traditional rigid robotics, soft robotics has attracted increasing attention due to its advantages as compliance, safety, and low cost. As an essential part of soft robotics, the soft robotic gripper also shows its superior…
This paper presents a novel multi-axis force-sensing approach in robotic minimally invasive surgery with no modification to the surgical instrument. Thus, it is adaptable to different surgical instruments. A novel 6-axis optical force…
Creating a complex work of art like music necessitates profound creativity. With recent advancements in deep learning and powerful models such as transformers, there has been huge progress in automatic music generation. In an accompaniment…
The deployment of mobile robots for material handling in industrial environments requires scalable coordination of large fleets in dynamic settings. This paper presents a two-layer framework that combines high-level scheduling with…
Hovering insects are limited by their physiology and need to rotate their wings at the end of each back and forth motion to keep the wing's leading edge ahead of its trailing edge. The wing rotation at the end of each half-stroke pushes the…
A novel supersonic jet oscillating method is investigated both experimentally and numerically. A rectangular primary supersonic jet is issued into a confined chamber with sudden enlargement. Secondary control jets are issued from the top,…
The one-to-one mapping of control inputs to actuator outputs results in elaborate routing architectures that limit how complex fluidic soft robot behaviours can currently become. Embodied intelligence can be used as a tool to counteract…
This paper proposes a new variable stiffness soft gripper that enables high-performance grasping tasks in industrial applications. The design of the proposed monolithic soft gripper includes a middle bellow and two side bellows (i.e.,…
Mastering dexterous manipulation with multi-fingered hands has been a grand challenge in robotics for decades. Despite its potential, the difficulty of collecting high-quality data remains a primary bottleneck for high-precision tasks.…
This paper proposes an autopilot system that can be used to control the small scale rotorcraft during the flight test for linear-frequency-domain system identification. The input frequency swept is generated automatically as part of the…
Recently, the Less In More Out device, a fluidically actuated soft total artificial heart was proposed. This device uses arrays of pouch motors to achieve a positive fluidic lever when pneumatically actuated against physiological…
Robotic autonomy at centimeter scale requires compact and miniaturization-friendly actuation integrated with sensing and neural network processing assembly within a tiny form factor. Applications of such systems have witnessed significant…
The use of parallel manipulators in aerospace engineering has gained significant attention due to their ability to provide improved stability and precision. This paper presents the design, control, and analysis of 'STEWIE', which is a…
Centipede-like robots offer an effective and robust solution to navigation over complex terrain with minimal sensing. However, when climbing over obstacles, such multi-legged robots often elevate their center-of-mass into unstable…