Related papers: Distal-Stable Beam for Continuum Robots
Continuum robots have the potential to enable new applications in medicine, inspection, and countless other areas due to their unique shape, compliance, and size. Excellent progess has been made in the mechanical design and dynamic…
Snakes can move through almost any terrain. Similarly, snake robots hold the promise as a versatile platform to traverse complex environments like earthquake rubble. Unlike snake locomotion on flat surfaces which is inherently stable, when…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
In this paper, we propose an approach to learn stable dynamical systems evolving on Riemannian manifolds. The approach leverages a data-efficient procedure to learn a diffeomorphic transformation that maps simple stable dynamical systems…
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…
Synthesizing a stable gait that enables a quadruped robot to climb stairs is the focus of this paper. To this end, first a stable transition from initial to desired configuration is made based on the minimum number of steps and maximum use…
This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…
In this paper, a novel robust tracking control law is proposed for constrained robots under unknown stiffness environment. The stability and the robustness of the controller are proved using a Lyapunov-based approach where the relationship…
Stabilizing unsecured payloads against the inherent oscillations of dynamic bipedal locomotion remains a critical engineering bottleneck for humanoids in unstructured environments. To solve this, we introduce ReST-RL, a hierarchical…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
Consider a robot operating in an uncertain environment with stochastic, dynamic obstacles. Despite the clear benefits for trajectory optimization, it is often hard to keep track of each obstacle at every time step due to sensing and…
Tensegrity robots excel in tasks requiring extreme levels of deformability and robustness. However, there are challenges in state estimation and payload versatility due to their high number of degrees of freedom and unconventional shape.…
Thermal cameras offer strong potential for robot perception under challenging illumination and weather conditions. However, thermal Simultaneous Localization and Mapping (SLAM) remains difficult due to unreliable feature extraction,…
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interaction with uncertainty…
In this paper, we discuss a novel continuum robot design that enables the online tuning of the magnetic response at its tip. The proposed method allows for the change of both effective magnetic direction and intensity, introducing steering…
This paper introduces a new type of soft continuum robot, called SCoReS, which is capable of self-controlling continuously its curvature at the segment level; in contrast to previous designs which either require external forces or machine…
Variable stiffness is a key capability in biological and robotic systems, enabling adaptive interaction across tasks and environments. Mechanical metamaterials offer an alternative to conventional mechatronic solutions by encoding stiffness…
Ensuring symmetric stiffness in impedance-controlled robots is crucial for physically meaningful and stable interaction in contact-rich manipulation. Conventional approaches neglect the change of basis vectors in curved spaces, leading to…
The paper focuses on the stiffness modeling of heavy industrial robots with gravity compensators. The main attention is paid to the identification of geometrical and elastostatic parameters and calibration accuracy. To reduce impact of the…
Continuum robots suffer large deflections due to internal and external forces. Accurate modeling of their passive compliance is necessary for accurate environmental interaction, especially in scenarios where direct force sensing is not…