相关论文: HEDRA: A Bio-Inspired Modular Tensegrity Soft Robo…

We introduce collision-resilient aerial vehicles with icosahedron tensegrity structures, capable of surviving high-speed impacts and resuming operations post-collision. We present a model-based design approach, which guides the selection of…

This paper proposes a unified approach for dynamic modeling and simulations of general tensegrity structures with rigid bars and rigid bodies of arbitrary shapes. The natural coordinates are adopted as a non-minimal description in terms of…

Variable stiffness is a key capability in biological and robotic systems, enabling adaptive interaction across tasks and environments. Mechanical metamaterials offer an alternative to conventional mechatronic solutions by encoding stiffness…

Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…

The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…

Continuum soft robots are mechanical systems entirely made of continuously deformable elements. This design solution aims to bring robots closer to invertebrate animals and soft appendices of vertebrate animals (e.g., an elephant's trunk, a…

Tensegrity structures are special architectures made by floating compressed struts kept together by a continuous system of tensed cables. The multiplicity of shapes that tensegrity structures can assume and their intrinsic capability to be…

Aerial vehicles with collision resilience can operate with more confidence in environments with obstacles that are hard to detect and avoid. This paper presents the methodology used to design a collision resilient aerial vehicle with…

The paper focuses on the stiffness modeling of heavy industrial robots with gravity compensators. The main attention is paid to the identification of geometrical and elastostatic parameters and calibration accuracy. To reduce impact of the…

In-situ aeroengine maintenance works are highly beneficial as it can significantly reduce the current maintenance cycle which is extensive and costly due to the disassembly requirement of engines from aircrafts. However, navigating in/out…

SLOT (Soft Legged Omnidirectional Tetrapod), a tendon-driven soft quadruped robot with 3D-printed TPU legs, is presented to study physics-informed modeling and control of compliant legged locomotion using only four actuators. Each leg is…

To be useful tools in real scenarios, humanoid robots must realize tasks dynamically. This means that they must be capable of applying substantial forces, rapidly swinging their limbs, and also mitigating impacts that may occur during the…

Modular self-reconfigurable robots (MSRRs) offer enhanced task flexibility by constructing various structures suitable for each task. However, conventional terrestrial MSRRs equipped with wheels face critical challenges, including…

Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…

This paper investigates the influence of the internal geometrical structure of soft pneu-nets on the dynamic response and hysteresis of the actuators. The research findings indicate that by strategically manipulating the stress distribution…

Soft robotic hands and grippers are increasingly attracting attention as a robotic end-effector. Compared with rigid counterparts, they are safer for human-robot and environment-robot interactions, easier to control, lower cost and weight,…

Highly articulated organisms serve as blueprints for incredibly dexterous mechanisms, but building similarly capable robotic counterparts has been hindered by the difficulties of developing electromechanical actuators with both the high…

This paper presents a novel simulation platform, ZeMa, designed for robotic manipulation tasks concerning soft objects. Such simulation ideally requires three properties: two-way soft-rigid coupling, intersection-free guarantees, and…

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…

Multi-cellular robot design aims to create robots comprised of numerous cells that can be efficiently controlled to perform diverse tasks. Previous research has demonstrated the ability to generate robots for various tasks, but these…