相关论文: Development of a Shape-memorable Adaptive Pin Arra…

Climbing robots face significant challenges when navigating unstructured environments, where reliable attachment to irregular surfaces is critical. We present a novel mobile climbing robot equipped with compliant pin-array structured…

Adaptive response to a varying environment is a common feature of biological organisms. Reproducing such features in electronic systems and circuits is of great importance for a variety of applications. Here, we consider memory models…

In this paper, design and development of a sensor integrated adaptive gripper is presented. Adaptive grippers are useful for grasping objects of varied geometric shapes by wrapping fingers around the object. The finger closing sequence in…

In this study, we present a concept of morphing structure -- featuring an arch mounted on a compliant base -- that can be reconfigured via snap-through buckling and leverages bistability to retain its morphed shape. We show that…

Microphone arrays are usually assumed to have rigid geometries: the microphones may move with respect to the sound field but remain fixed relative to each other. However, many useful arrays, such as those in wearable devices, have sensors…

We introduce a novel design of parallel-jaw grippers drawing inspiration from pin-pression toys. The proposed pin-pression gripper features a distinctive mechanism in which each finger integrates a 2D array of pins capable of independent…

Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a…

Regrasping on fixtures is a promising approach to reduce pose uncertainty in robotic assembly, but conventional rigid fixtures lack adaptability and require dedicated designs for each part. To overcome this limitation, we propose a soft jig…

Kinematics of mechanisms is intricately coupled to their geometry and their utility often arises out of the ability to perform reproducible motion with fewer actuating degrees of freedom. In this article, we explore the assembly of…

This paper introduces a new shape-matching methodology, combinative matching, to combine interlocking parts for geometric shape assembly. Previous methods for geometric assembly typically rely on aligning parts by finding identical surfaces…

Grippers can be attached to objects in a rigid mode, and they are therefore used in various applications, for example granular jamming gripper. This paper introduces a cutting-edge radial layer jamming mechanism with is tunable stiffness,…

The disassembly of small household appliances poses significant challenges due to their complex and curved geometries, which render traditional rigid fixtures inadequate. In this paper, we propose a modular vacuum-based fixturing system…

Lattice structures have been widely used in various applications of additive manufacturing due to its superior physical properties. If modeled by triangular meshes, a lattice structure with huge number of struts would consume massive…

Matching deformable objects using their shapes is an important problem in computer vision since shape is perhaps the most distinguishable characteristic of an object. The problem is difficult due to many factors such as intra-class…

Grasping, in both biological and engineered mechanisms, can be highly sensitive to the gripper and object morphology, as well as perception, and motion planning. Here we circumvent the need for feedback or precise planning by using an array…

Microspine grippers are small spines commonly found on insect legs that reinforce surface interaction by engaging with asperities to increase shear force and traction. An array of such microspines, when integrated into the limbs or…

This paper explores the production of a specified object using a combination of machining processes, including milling, shaping, and drilling, while emphasizing the critical role of fixture design in ensuring precision repeatability, and…

Orthogonal array, a classical and effective tool for collecting data, has been flourished with its applications in modern computer experiments and engineering statistics. Driven by the wide use of computer experiments with both qualitative…

Existing attention mechanisms are trained to attend to individual items in a collection (the memory) with a predefined, fixed granularity, e.g., a word token or an image grid. We propose area attention: a way to attend to areas in the…

Ising Machine is a promising computing approach for solving combinatorial optimization problems. It is naturally suited for energy-saving and compact in-memory computing implementations with emerging memories. A na\"ive in-memory computing…