相关论文: Design and Development of a Gecko-Adhesive Gripper…
Soft robots require directional control to navigate complex terrains. However, achieving such control often requires multiple actuators, which increases mechanical complexity, complicates control systems, and raises energy consumption.…
This paper describes a novel amphibious robot, which adopts a dual-swing-legs propulsion mechanism, proposing a new locomotion mode. The robot is called FroBot, since its structure and locomotion are similar to frogs. Our inspiration comes…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
We present a holistic grasping controller, combining free-space position control and in-contact force-control for reliable grasping given uncertain object pose estimates. Employing tactile fingertip sensors, undesired object displacement…
We present PufferBot, an aerial robot with an expandable structure that may expand to protect a drone's propellers when the robot is close to obstacles or collocated humans. PufferBot is made of a custom 3D-printed expandable scissor…
This paper presents MicroRoboScope, a portable, compact, and versatile microrobotic experimentation platform designed for real-time, closed-loop control of both magnetic and acoustic microrobots. The system integrates an embedded computer,…
Soft robots have the ability to adapt to their environment, which makes them suitable for use in disaster areas and agricultural fields, where their mobility is constrained by complex terrain. One of the main challenges in developing soft…
The concept of aerial-aquatic robots has emerged as an innovative solution that can operate both in the air and underwater. Previous research on the design of such robots has been mainly focused on mature technologies such as fixed-wing and…
Biologically-inspired robots are a very interesting and difficult branch of robotics dues to its very rich dynamical and morphological complexities. Among them, flying animals, such as bats, have been among the most difficult to take…
Robot-assisted feeding systems enhance the independence of individuals with motor impairments and alleviate caregiver burden. While existing systems predominantly rely on software-based safety features to mitigate risks during unforeseen…
Electroadhesion (EA) provides electrically switchable adhesion and is a promising mechanism for perching micro aerial robots on smooth surfaces. However, practical implementations of soft and stretchable EA pads for aerial perching remain…
For robot manipulation, both the controller and end-effector design are crucial. Soft grippers are generalizable by deforming to different geometries, but designing such a gripper and finding its grasp pose remains challenging. In this…
Social and assistive robotics have vastly increased in popularity in recent years. Due to the wide range of usage, robots executing such tasks must be highly reliable and possess enough functions to satisfy multiple scenarios. This article…
This paper presents a system integration approach for a 6-DoF (Degree of Freedom) collaborative robot to operate a pipette for liquid dispensing. Its technical development is threefold. First, we designed an end-effector for holding and…
While compliant grippers have become increasingly commonplace in robot manipulation, finding the right stiffness and geometry for grasping the widest variety of objects remains a key challenge. Adjusting both stiffness and gripper geometry…
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…
Multilinked aerial robot is one of the state-of-the-art works in aerial robotics, which demonstrates the deformability benefiting both maneuvering and manipulation. However, the performance in outdoor physical world has not yet been…
Current aerial robots demonstrate limited interaction capabilities in unstructured environments when compared with their biological counterparts. Some examples include their inability to tolerate collisions and to successfully land or perch…
On-orbit servicing represents a critical frontier in future aerospace engineering, with the manipulation of dynamic non-cooperative targets serving as a key technology. In microgravity environments, objects are typically free-floating,…
In Physical Human--Robot Interaction (pHRI) grippers, humans and robots may contribute simultaneously to actions, so it is necessary to determine how to combine their commands. Control may be swapped from one to the other within certain…