相关论文: Development and Analysis of Digging and Soil Remov…

Automating the manipulation of granular materials poses significant challenges due to complex contact dynamics, unpredictable material properties, and intricate system states. Existing approaches often fail to achieve efficiency and…

Bristle-bots are legged robots that can be easily made out of a toothbrush head and a small vibrating engine. Despite their simple appearance, the mechanism enabling them to propel themselves by exploiting friction with the substrate is far…

This research proposes a novel morphing structure with shells inspired by the movement of pillbugs. Instead of the pillbug body, a loopcoupled mechanism based on slider-crank mechanisms is utilized to achieve the rolling up and spreading…

Blueprint of an in-pipe climbing robot that works with sharp transmissions to study complex line relationships. Standard wheeled/happening pipe climbing robots tend to slide when exploring pipe turns. Instruments help achieve a very…

A multiscale model for real-time simulation of terrain dynamics is explored. To represent the dynamics on different scales the model combines the description of soil as a continuous solid, as distinct particles and as rigid multibodies. The…

The allure of lunar surface exploration and development has recently captured widespread global attention. Robots have proved to be indispensable for exploring uncharted terrains, uncovering and leveraging local resources, and facilitating…

Robots are widely deployed in space environments because of their versatility and robustness. However, adverse gravity conditions and challenging terrain geometry expose the limitations of traditional robot designs, which are often forced…

Robotic assistance for experimental manipulation in the life sciences is expected to enable precise manipulation of valuable samples, regardless of the skill of the scientist. Experimental specimens in the life sciences are subject to…

Thanks to the rapid evolvement of robotic technologies, robot mowing is emerging to liberate humans from the tedious and time-consuming landscape work. Traditionally, robot mowing is perceived as a "Coverage Path Planning" problem, with a…

Pneumatically operated soft growing robots that extend via tip eversion are well-suited for navigation in confined spaces. Adding the ability to interact with the environment using sensors and tools attached to the robot tip would greatly…

Designing an in-pipe climbing robot that manipulates sharp gears to study complex line relationships. Traditional rolling/happening pipe climbing robots tend to slide when exploring pipe curves. The proposed gearbox connects to the farthest…

Robot manipulation of rope-like objects is an interesting problem that has some critical applications, such as autonomous robotic suturing. Solving for and controlling rope is difficult due to the complexity of rope physics and the…

This paper presents the arrangement of an in-pipe climbing robot that works using a clever differential part to explore complex associations of lines. Standard wheeled/continued in-pipe climbing robots are leaned to slip and take while…

This work introduces a novel approach for Titan exploration based on soft morphing aerial robots leveraging the use of flexible adaptive materials. The controlled deformation of the multirotor arms, actuated by a combination of a pneumatic…

High-velocity dynamic actions (e.g., fling or throw) play a crucial role in our everyday interaction with deformable objects by improving our efficiency and effectively expanding our physical reach range. Yet, most prior works have tackled…

Robot performance has advanced considerably both in and out of the factory, however in tightly constrained, unknown environments such as inside a jet engine or the human heart, current robots are less adept. In such cases where a borescope…

Analysis of sediments from rivers, lakes, reservoirs, wetlands and other constructed surface water impoundments is an important tool to characterize the function and health of these systems, but is generally carried out manually. This is…

Deformable object manipulation (DOM) is an emerging research problem in robotics. The ability to manipulate deformable objects endows robots with higher autonomy and promises new applications in the industrial, services, and healthcare…

While most micro-robots face difficulty traveling on rugged and uneven terrain, beetles can walk smoothly on the complex substrate without slipping or getting stuck on the surface due to their stiffness-variable tarsi and expandable hooks…

Robotic spacecraft have helped expand our reach for many planetary exploration missions. Most ground mobile planetary exploration robots use wheeled or modified wheeled platforms. Although extraordinarily successful at completing intended…