相关论文: A Dynamic Robotic Actuator with Variable Physical …
Modulating the stiffness of soft actuators is crucial for improving the efficiency of interaction with the environment. However, current stiffness modulation mechanisms are hard to achieve high lateral stiffness and a wide range of bending…
Realizing high-performance soft robotic grippers is challenging because of the inherent limitations of the soft actuators and artificial muscles that drive them, including low force output, small actuation range, and poor compactness.…
High-speed machinery is often designed to pass several $"$critical$"$ speeds, where vibration levels can be very high. To reduce vibrations, rotors usually undergo a mass balancing process, where the machine is rotated at its full speed…
Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…
Soft robots - due to their intrinsic flexibility of the body - can adaptively navigate unstructured environments. One of the most popular locomotion gaits that has been implemented in soft robots is undulation. The undulation motion in soft…
Wearable and legged robot designers face multiple challenges when choosing actuation. Traditional fully actuated designs using electric motors are multifunctional but oversized and inefficient for bearing conservative loads and for being…
This paper presents a globally stable teleoperation control strategy for systems with time-varying delays that eliminates the need for velocity measurements through novel augmented Immersion and Invariance velocity observers. The new…
Developing kinesthetic haptic devices with advanced haptic rendering capabilities is challenging due to the limitations on driving mechanisms. In this study, we introduce a novel soft electrohydraulic actuator and develop a kinesthetic…
Simulating soft robots in cluttered environments remains an open problem due to the challenge of capturing complex dynamics and interactions with the environment. Furthermore, fast simulation is desired for quickly exploring robot behaviors…
Robotic manipulation in complex scenes demands precise perception of task-relevant details, yet fixed or suboptimal viewpoints often impair fine-grained perception and induce occlusions, constraining imitation-learned policies. We present…
Robotic manipulators for aerospace applications require a delicate balance between lightweight construction and fault-tolerant operation to satisfy strict weight limitations and ensure reliability in remote, hazardous environments. This…
Animals can finely modulate their leg stiffness to interact with complex terrains and absorb sudden shocks. In feats like leaping and sprinting, animals demonstrate a sophisticated interplay of opposing muscle pairs that actively modulate…
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
Achieving human-like dexterity in robotic grippers remains an open challenge, particularly in ensuring robust manipulation in uncertain environments. Soft robotic hands try to address this by leveraging passive compliance, a characteristic…
This paper presents modeling of a compliant 2D manipulator, a so called soft hydraulic/fluidic elastomer actuator. Our focus is on fiber-Reinforced Fluidic Elastomer Actuators (RFEA) driven by a constant pressure hydraulic supply and…
In assistive robots, compliant actuator is a key component in establishing safe and satisfactory physical human-robot interaction (pHRI). The performance of compliant actuators largely depends on the stiffness of the elastic element.…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…
Varying dynamics pose a fundamental difficulty when deploying safe control laws in the real world. Safety Index Synthesis (SIS) deeply relies on the system dynamics and once the dynamics change, the previously synthesized safety index…
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…
Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which…