相关论文: A Continuum Manipulator for Open-Source Surgical R…
Dexterous manipulation remains an open problem in robotics. To coordinate efforts of the research community towards tackling this problem, we propose a shared benchmark. We designed and built robotic platforms that are hosted at MPI for…
Open access to publication, software and hardware is central to robotics: it lowers barriers to entry, supports reproducible science and accelerates reliable system development. However, openness also exacerbates the inherent dual-use risks…
The ability to enter in contact with and manipulate physical objects with a flying robot enables many novel applications, such as contact inspection, painting, drilling, and sample collection. Generally, these aerial robots need more…
Industrial robots typically require very structured and predictable working environments, and explicit programming, in order to perform well. Therefore, expensive and time-consuming engineering work is a major obstruction when mediating…
Tendon-driven snake-like arms have been used to create highly dexterous continuum robots so that they can bend around anatomical obstacles to access clinical targets. In this paper, we propose a design algorithm for developing…
Computer assisted technologies based on algorithmic software segmentation are an increasing topic of interest in complex surgical cases. However - due to functional instability, time consuming software processes, personnel resources or…
Seamless loco-manipulation in unstructured environments requires robots to leverage autonomous exploration alongside whole-body control for physical interaction. In this work, we introduce HANDO (Hierarchical Autonomous Navigation and…
In this paper, we propose a novel vision-based control algorithm for regulating the whole body shape of extensible multisection soft continuum manipulators. Contrary to existing vision-based control algorithms in the literature that…
Despite their remarkable advancement in locomotion and manipulation, humanoid robots remain challenged by a lack of synchronized loco-manipulation control, hindering their full dynamic potential. In this work, we introduce a versatile and…
We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor and a low-gear-ratio transmission suitable for impedance and…
Soft robotics focuses on designing robots with highly deformable materials, allowing them to adapt and operate safely and reliably in unstructured and variable environments. While soft robots offer increased compliance over rigid body…
Aerial robotic systems have raised emerging interests in recent years. In this article, we propose a novel aerial manipulator system that is significantly different from conventional aerial discrete manipulators: An Aerial Continuum…
This paper introduces a new type of soft continuum robot, called SCoReS, which is capable of self-controlling continuously its curvature at the segment level; in contrast to previous designs which either require external forces or machine…
With the spread of robots in unstructured, dynamic environments, the topic of path replanning has gained importance in the robotics community. Although the number of replanning strategies has significantly increased, there is a lack of…
Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…
Continuum and soft robots can transform diverse sectors, including healthcare, agriculture, marine, and space, thanks to their potential to adaptively interact with unstructured environments. These robots exhibit complex mechanics that pose…
Soft machines are poised to deliver significant real-world impact, with soft robotics emerging as a key sub-discipline. This field integrates biological inspiration, materials science, and embodied intelligence to create bio-robotic…
This paper introduces a rescue robot named Sigma 3 which is developed for potential applications such as helping hands for humans where a human can not reach to have an assessment of the hazardous environment. Also, these kinds of robot can…
More widespread adoption requires swarms of robots to be more flexible for real-world applications. Multiple challenges remain in complex scenarios where a large amount of data needs to be processed in real-time and high degrees of…
Human-Robot Teams offer the flexibility needed for partial automation in small and medium-sized enterprises (SMEs). They will thus be an integral part of Factories of the Future. Our research targets a particularly flexible teaming mode,…