Related papers: Dynamic simulation of task constrained of a rigid-…

In this survey, we present the current status on robots performing manipulation tasks that require varying contact with the environment, such that the robot must either implicitly or explicitly control the contact force with the environment…

Mechanical compliance is a key design parameter for dynamic contact-rich manipulation, affecting task success and safety robustness over contact geometry variation. Design of soft robotic structures, such as compliant fingers, requires…

Mechanical interactions between rigid rings and flexible cables find broad application in both daily life (hanging clothes) and engineering systems (closing a tether-net). A reduced-order method for the dynamic analysis of sliding rings on…

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…

The robotic manipulation of composite rigid-deformable objects (i.e. those with mixed non-homogeneous stiffness properties) is a challenging problem with clear practical applications that, despite the recent progress in the field, it has…

Repetitive tasks in industrial works may contribute to health problems among operators, such as musculo-skeletal disorders, in part due to insufficient control of muscle fatigue. In this paper, a predictive model of fatigue is proposed for…

We develop a microscopic picture of shear thickening in dense suspensions which emphasizes the role of frictional forces, coupling rotational and translational degrees of freedom. Simulations with contact forces and viscous drag only,…

The real area of contact of a frictional interface changes rapidly when the normal load is altered, and evolves slowly when normal load is held constant, aging over time. Traditionally, the total area of contact is considered a proxy for…

The quality of a simulator equipped with a haptic interface is given by the dynamical properties of its components: haptic interface, simulator and control system. Some application areas of such kind of simulator like musical synthesis,…

The formation of periodic wrinkles in soft layered materials due to mechanical instabilities is prevalent in nature and has been proposed for use in multiple applications. However, such phenomena have been explored predominantly in…

Classical rigid-bodied robotic systems are presented with proven success in theoretical development and industrial applications, are recently challenged by the emergence of soft robotics due to a growing need in physical human-robot…

For mobile robots, navigating cluttered or dynamic environments often necessitates non-prehensile manipulation, particularly when faced with objects that are too large, irregular, or fragile to grasp. The unpredictable behavior and varying…

The motion of an object within a viscous fluid and in the vicinity of a soft surface induces a hydrodynamic stress field that deforms the latter, thus modifying the boundary conditions of the flow. This results in elastohydrodynamic (EHD)…

Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…

Constraint-based control approaches offer a flexible way to specify robotic manipulation tasks and execute them on robots with many degrees of freedom. However, the specification of task constraints and their associated priorities usually…

In a system with long-ranged correlations, the behavior of correlation functions is sensitive to the presence of a boundary. We show that surface deformations strongly modify this behavior as compared to a flat surface. The modified near…

During co-manipulation involving humans and robots, it is necessary to base robot controllers on human behaviors to achieve comfortable and coordinated movement between the human-robot dyad. In this paper, we describe an experiment between…

Turn-taking behaviour is simulated in a coupled agents system. Each agent is modelled as a mobile robot with two wheels. A recurrent neural network is used to produce the motor outputs and to hold the internal dynamics. Agents are developed…

The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…

Models for fluid deformable surfaces provide valid theories to describe the dynamics of thin fluidic sheets of soft materials. To use such models in morphogenesis and development requires to incorporate active forces. We consider active…