相关论文: Minimally Actuated Serial Robot

The development of mobile robot platforms for inspection has gained traction in recent years with the rapid advancement in hardware and software. However, conventional mobile robots are unable to address the challenge of operating in…

Legged locomotion enables robotic systems to traverse extremely challenging terrains. In many real-world scenarios, the terrain is not that difficult and these mixed terrain types introduce the need for flexible use of different walking…

This paper studies the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics and large singularity-free workspace. Furthermore, their…

Living organisms intertwine soft (e.g., muscle) and hard (e.g., bones) materials, giving them an intrinsic flexibility and resiliency often lacking in conventional rigid robots. The emerging field of soft robotics seeks to harness these…

This paper presents the design of a new soft-rigid robotic platform, "GeoGami". We leverage origami surface capabilities to achieve shape contraction and to support locomotion with underactuated forms. A key challenge is that origami…

Spider monkeys (genus Ateles) have a prehensile tail that functions as a flexible, multipurpose fifth limb, enabling them to navigate complex terrains, grasp objects of various sizes, and swing between supports. Inspired by the spider…

This paper presents a novel modular robot system that can self-reconfigure to achieve omnidirectional movements for collaborative object transportation. Each robotic module is equipped with a steerable omni-wheel for navigation and is…

Vehicle power-trains use a variable transmission (multiple gear-ratios) to minimize motor size and maximize efficiency while meeting a wide-range of operating points. Robots could similarly benefit from variable transmission to save weight…

In this paper, we propose a novel design of a hybrid mobile robot with controllable stiffness and deformable shape. Compared to conventional mobile agents, our system can switch between rigid and compliant phases by solidifying or melting…

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…

Soft actuators have drawn significant attention from researchers with an inherently compliant design to address the safety issues in physical human-robot interactions. However, they are also vulnerable and pose new challenges in the design,…

This paper investigates the possibility of the motion control of a ball with a pendulum mechanism with non-holonomic constraints using gaits - the simplest motions such as acceleration and deceleration during the motion in a straight line,…

This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is optimised. In many works, these simplified…

In this paper we investigate the computational power of a set of mobile robots with limited visibility. At each iteration, a robot takes a snapshot of its surroundings, uses the snapshot to compute a destination point, and it moves toward…

Multimodal locomotion is crucial for an animal's adaptability in unstructured wild environments. Similarly, in the human gastrointestinal tract, characterized by viscoelastic mucus, complex rugae, and narrow sphincters like the cardia,…

This paper presents a robotic system where the gear-ratio of an actuator is dynamically changed to either leverage or attenuate the natural load dynamics. Based on this principle, lightweight robotic systems can be made fast and strong;…

In this paper, the dynamic modeling of a seven linked humanoid robot, is accurately developed, in the three dimensional space using the Newton-Euler formalism. The aim of this study is to provide a clear and a systematic approach so that…

Endowing continuum robots with compliance while it is interacting with the internal environment of the human body is essential to prevent damage to the robot and the surrounding tissues. Compared with passive compliance, active compliance…

The automatic design of embodied agents (e.g. robots) has existed for 31 years and is experiencing a renaissance of interest in the literature. To date however, the field has remained narrowly focused on two kinds of anatomically simple…

Collaborative robots should ideally use low torque actuators for passive safety reasons. However, some applications require these collaborative robots to reach deep into confined spaces while assisting a human operator in physically…