相关论文: A Microstructural View of Burrowing with RoboClam
Accurately perceiving an object's pose and shape is essential for precise grasping and manipulation. Compared to common vision-based methods, tactile sensing offers advantages in precision and immunity to occlusion when tracking and…
We investigate the dynamics of a magnetoelastic robot with a dipolar magnetic head and a slender elastic body as it performs undulatory strokes and burrows through water-saturated granular beds. The robot is actuated by an oscillating…
Grasping is the process of picking up an object by applying forces and torques at a set of contacts. Recent advances in deep-learning methods have allowed rapid progress in robotic object grasping. In this systematic review, we surveyed the…
Obtaining high-resolution, accurate channel topography and deposit conditions is the prior challenge for the study of channelized debris flow. Currently, wide-used mapping technologies including satellite imaging and drone photogrammetry…
The increasing demand for critical raw materials has revitalized interest in abandoned underground mines, which pose extreme challenges for conventional drilling machinery due to confined, unstructured, and infrastructure-less environments.…
This paper discusses the design of a novel compliant in-pipe climbing modular robot for small diameter pipes. The robot consists of a kinematic chain of 3 OmniCrawler modules with a link connected in between 2 adjacent modules via compliant…
This paper presents a reliable method to verify the existence of loops along the uncertain trajectory of a robot, based on proprioceptive measurements only, within a bounded-error context. The loop closure detection is one of the key points…
Robots are widely deployed in space environments because of their versatility and robustness. However, adverse gravity conditions and challenging terrain geometry expose the limitations of traditional robot designs, which are often forced…
Robust robot manipulation in unstructured environments often requires understanding object properties that extend beyond geometry, such as material or compliance-properties that can be challenging to infer using vision alone. Multimodal…
Grasping small objects surrounded by unstable or non-rigid material plays a crucial role in applications such as surgery, harvesting, construction, disaster recovery, and assisted feeding. This task is especially difficult when fine…
Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…
This research proposes a novel morphing structure with shells inspired by the movement of pillbugs. Instead of the pillbug body, a loopcoupled mechanism based on slider-crank mechanisms is utilized to achieve the rolling up and spreading…
We investigate the dynamics of \textbf{\textit{Lumbriculus variegatus}} in water-saturated sediment beds to understand limbless locomotion in the benthic zone found at the bottom of lakes and oceans. These slender aquatic worms are observed…
Spatial tracing, as a fundamental embodied interaction ability for robots, is inherently challenging as it requires multi-step metric-grounded reasoning compounded with complex spatial referring and real-world metric measurement. However,…
Cranes come in various sizes and designs to perform different tasks. Depending on their dynamic properties, they can be classified as gantry cranes and rotary cranes. In this paper we will focus on the so called 'knuckle boom' cranes which…
Humanoid robots represent a central frontier in embodied intelligence, as their anthropomorphic form enables natural deployment in humans' workspace. Brain-body co-design for humanoids presents a promising approach to realizing this…
This paper presents an aerially deployable crawler designed for adaptive locomotion and manipulation within tree canopies. The system combines compliant microspine-based tracks, a dual-track rotary gripper, and an elastic tail, enabling…
Retinal surgery is a complex medical procedure that requires exceptional expertise and dexterity. For this purpose, several robotic platforms are currently being developed to enable or improve the outcome of microsurgical tasks. Since the…
RoboCup SSL is an excellent platform for researching artificial intelligence and robotics. The dribbling system is an essential issue, which is the main part for completing advanced soccer skills such as trapping and dribbling. In this…
Robotic-assisted minimally invasive surgery (RAMIS) requires accurate enforcement of the remote center of motion (RCM) constraint to ensure safe tool motion through a trocar. Existing virtual RCM controllers are commonly formulated either…