相关论文: Rope through Loop Insertion for Robotic Knotting: …
We present the first real-time method for inserting a rigid virtual object into a neural radiance field, which produces realistic lighting and shadowing effects, as well as allows interactive manipulation of the object. By exploiting the…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…
With the rotation of charge in a circular path current-loop is generated. This results in the production of magnetic fields in a charged body. This self (internal) magnetic field is treated here with five different radii of electron. Closed…
Capsule robots are promising tools for minimally invasive diagnostics and therapy, with applications from gastrointestinal endoscopy to targeted drug delivery and biopsy sampling. Conventional magnetic capsule robots embed bulky permanent…
In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…
Robot manipulation is an important part of human-robot interaction technology. However, traditional pre-programmed methods can only accomplish simple and repetitive tasks. To enable effective communication between robots and humans, and to…
This study addresses the challenge of manipulation, a prominent issue in robotics. We have devised a novel methodology for swiftly and precisely identifying the optimal grasp point for a robot to manipulate an object. Our approach leverages…
Designing agile locomotion for quadruped robots often requires extensive expertise and tedious manual tuning. In this paper, we present a system to automate this process by leveraging deep reinforcement learning techniques. Our system can…
An atom moving in a spatially periodic field experiences a temporary periodic perturbation and undergoes a resonance transition between atomic internal states when the transition frequency is equal to the atomic velocity divided by the…
Mirroring the complex structures and diverse functions of natural organisms is a long-standing challenge in robotics. Modern fabrication techniques have greatly expanded the feasible hardware, but using these systems requires control…
Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop…
In this article we consider the problem of tether entanglement for tethered mobile robots. One of the main risks of using a tethered connection between a mobile robot and an anchor point is that the tether may get entangled with the…
The stability of complex networks, from power grids to biological systems, is crucial for their proper functioning. It is thus important to control such systems to maintain or restore their stability. Traditional approaches rely on…
Cutting is a common form of manipulation when working with divisible objects such as food, rope, or clay. Cooking in particular relies heavily on cutting to divide food items into desired shapes. However, cutting food is a challenging task…
The ability to automatically encircle boundaries with mobile robots is crucial for tasks such as border tracking and object enclosing. Previous research has primarily focused on regular boundaries, often assuming that their geometric…
Agile maneuvers are essential for robot-enabled complex tasks such as surgical procedures. Prior explorations on surgery autonomy are limited to feasibility study of completing a single task without systematically addressing generic…
Applications in fields ranging from home care to warehouse fulfillment to surgical assistance require robots to reliably manipulate the shape of 3D deformable objects. Analytic models of elastic, 3D deformable objects require numerous…
This paper presents a learning-based framework for approximating an exact magnetic-field interaction model, supported by both numerical and experimental validation. High-fidelity magnetic-field interaction modeling is essential for…
A robust and compact magneto-optical rotary encoder for the characterisation of robotic rotary joints is demonstrated. The system employs magnetic field-induced optical attenuation in a double-pass configuration using rotating nonuniform…
Robots are often built from standardized assemblies, (e.g. arms, legs, or fingers), but each robot must be trained from scratch to control all the actuators of all the parts together. In this paper we demonstrate a new approach that takes a…