相关论文: Minimally Actuated Serial Robot

This paper proposes a new type of actuator at millimeter scale, which is based on Simplified Electro-Permanent (SEP) magnets. The new actuator can achieve connection and smooth motion by controlling the polarity of SEP magnets. Analyses…

In this paper, we present a light-weight, multi- axis compliant tenegrity joint that is biologically inspired by the human elbow. This tensegrity elbow actuates by shortening and lengthening cable in a method inspired by muscular actuation…

For the majority of tasks performed by traditional serial robot arms, such as bin picking or pick and place, only two or three degrees of freedom (DOF) are required for motion; however, by augmenting the number of degrees of freedom,…

In this paper, we present a novel rolling, jumping robot. The robot consists of a driven pendulum mounted to a wheel in a compact, lightweight, 3D printed design. We show that by driving the pendulum to shift the robot's weight…

There is a growing need for robots that can change their shape, size and mechanical properties to adapt to evolving tasks and environments. However, current shape-changing systems generally utilize bespoke, system-specific mechanisms that…

Continuum arms, such as trunk and tentacle robots, lie between the two extremities of rigid and soft robots and promise to capture the best of both worlds in terms of manipulability, dexterity, and compliance. This paper proposes a new…

Series elastic robots are best able to follow trajectories which obey the limitations of their actuators, since they cannot instantly change their joint forces. In fact, the performance of series elastic actuators can surpass that of ideal…

This paper introduces a novel class of hyperredundant robots comprised of chains of permanently magnetized spheres enclosed in a cylindrical polymer skin. With their shape controlled using an externally-applied magnetic field, the spherical…

Soft robotics is an attractive and rapidly emerging field, in which actuation is coupled with the elastic response of the robot's structure to achieve complex deformation patterns. A crucial challenge is the need for multiple control…

Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…

An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…

Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…

Physical joint limits are common in legged robots and can restrict workspace, constrain gait design, and increase the risk of hardware damage. This paper introduces MiNI-Q^2, a miniature, wire-free quadruped robot with independently…

This paper introduces novel air actuated spherical robot called "RollRoller". The RollRoller robot consists of two essential parts: tubes covered with a shell as a frame and mechanical controlling parts to correspond movements. The…

Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic…

In recent years, multimodal locomotion capabilities have enabled robots to maneuver in both terrestrial and aerial domains. However, most of these robots are designed only for locomotion, and few possess the manipulation capabilities…

While its biological significance is well-documented, its application in soft robotics, particularly for the transport of fragile and irregularly shaped objects, remains underexplored. This study presents a modular soft robotic actuator…

We present a novel design for a low-cost robotic boat powered by a single actuator, useful for both modular and swarming applications. The boat uses the conservation of angular momentum and passive flippers to convert the motion of a single…

In biomechanics and robotics, elasticity plays a crucial role in enhancing locomotion efficiency and stability. Traditional approaches in legged robots often employ series elastic actuators (SEA) with discrete rigid components, which, while…

Operating in environments too harsh or inaccessible for humans is one of the critical roles expected of robots. However, such environments often pose risks to electronic components as well. To overcome this, various approaches have been…