相关论文: A programmable actuator for combined motion and co…
Miniature robots are untethered actuators, which have significant potential to make existing minimally invasive surgery considerably safer and painless, and enable unprecedented treatments because they are much smaller and dexterous than…
This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system…
Complex motions for robots are frequently generated by switching among a collection of individual movement primitives. We use this approach to formulate robot motion plans as sequences of primitives to be executed one after the other. When…
Robots using cellular-like redundant binary actuators could outmatch electric-gearmotor robotic systems in terms of reliability, force-to-weight ratio and cost. This paper presents a robust fault tolerant control scheme that is designed to…
Soft robots can execute tasks with safer interactions. However, control techniques that can effectively exploit the systems' capabilities are still missing. Differential dynamic programming (DDP) has emerged as a promising tool for…
Magnetic-responsive composites that consist of soft matrix embedded with hard-magnetic particles have recently been demonstrated as robust soft active materials for fast-transforming actuation. However, the deformation of the functional…
We present a novel approach to controlling the instantaneous velocity of a robot end-effector that is able to simultaneously maximise manipulability and avoid joint limits. It operates on non-redundant and redundant robots, which is…
This paper presents a multifunctional connector based on electro-permanent magnet (EPM) technology, integrating self-alignment, mechanical coupling, fluid transfer, and data communication within a compact SLA-3D printed structure.…
Functional magnetic composites capable of large deformation, load bearing, and multifunctional motion are essential for next-generation adaptive soft robots. Here, we present muscle-inspired magnetic actuators (MMA), additively manufactured…
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…
Electrostatic actuators provide a promising approach to creating soft robotic sheets, due to their flexible form factor, modular integration, and fast response speed. However, their control requires kilo-Volt signals and understanding of…
In this work, we propose a high-voltage, high-frequency control circuit for the untethered applications of dielectric elastomer actuators (DEAs). The circuit board leverages low-voltage resistive components connected in series to control…
This paper proposes a unified robust motion controller for the position and force control problems of compliant robot manipulators driven by Series Elastic Actuators (SEAs). It is shown that the dynamic model of the compliant robot includes…
The remarkable athletic intelligence displayed by humans in complex dynamic movements such as dancing and gymnastics suggests that the balance mechanism in biological beings is decoupled from specific movement patterns. This decoupling…
Soft modular robots enable more flexibility and safer interaction with the changing environment than traditional robots. However, it has remained challenging to create deformable connectors that can be integrated into soft machines. In this…
In the quest for electrically-driven soft actuators, the focus has shifted away from liquid-gas phase transition, commonly associated with reduced strain rates and actuation delays, in favour of electrostatic and other electrothermal…
We propose a novel multi-section cable-driven soft robotic arm inspired by octopus tentacles along with a new modeling approach. Each section of the modular manipulator is made of a soft tubing backbone, a soft silicon arm body, and two…
In this paper, we propose a novel design of an electrically actuated robotic leg, called the DecARt (Decoupled Actuation Robot) Leg, aimed at performing agile locomotion. This design incorporates several new features, such as the use of a…
The hybrid zero dynamics control concept for bipedal walking is extended to include a non-instantaneous double support phase. A symmetric robot that consists of five rigid body segments which are connected by four actuated revolute joints…
Robotic legs have bimodal operations: swing phases when the leg needs to move quickly in the air (high-speed, low-force) and stance phases when the leg bears the weight of the system (low-speed, high-force). Sizing a traditional…