相关论文: A 3D Printing Hexacopter: Design and Demonstration

Recent advancements in 3D reconstruction, especially through neural rendering approaches like Neural Radiance Fields (NeRF) and Plenoxel, have led to high-quality 3D visualizations. However, these methods are optimized for digital…

Following its success in natural language processing and computer vision, foundation models that are pre-trained on large-scale multi-task datasets have also shown great potential in robotics. However, most existing robot foundation models…

Precisely controlling the shape of the printed-layers, eliminating the curved sides and internal stress concentration, and increasing the mechanical properties are essential to guarantee the quality of 3D printed cement-based structures.…

Catching objects in flight (i.e., thrown objects) is a common daily skill for humans, yet it presents a significant challenge for robots. This task requires a robot with agile and accurate motion, a large spatial workspace, and the ability…

It is often necessary for drones to complete delivery, photography, and rescue in the shortest time to increase efficiency. Many autonomous drone races provide platforms to pursue algorithms to finish races as quickly as possible for the…

Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…

This book provides a solution to the control and motion planning design for an octocopter system. It includes a particular choice of control and motion planning algorithms which is based on the authors' previous research work, so it can be…

Modeling 3D objects in domains like Computer Aided Design (CAD) is time-consuming and comes with a steep learning curve needed to master the design process as well as tool complexities. In order to simplify the modeling process, we designed…

A dexterous hand capable of grasping any object is essential for the development of general-purpose embodied intelligent robots. However, due to the high degree of freedom in dexterous hands and the vast diversity of objects, generating…

The flight of a quadcopter drone, readily available as a toy, is analyzed using simple physics concepts. A smartphone with built-in accelerometer and gyroscope was attached to the drone to register the accelerations and angular velocities…

Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…

The use of standard platforms in the field of humanoid robotics can accelerate research, and lower the entry barrier for new research groups. While many affordable humanoid standard platforms exist in the lower size ranges of up to 60cm,…

Additive manufacturing builds physical objects by accumulating layers upon layers of solidified material. This process is typically done with horizontal planar layers. However, fused filament printers have the capability to extrude material…

The physical size of optical imaging systems is one of the greatest constraints on their use, limiting the performance and deployment of a range of systems from telescopes to mobile phone cameras. Spaceplates are nonlocal optical devices…

Complex 3D curves can be created by directly drawing mid-air in immersive environments (Augmented and Virtual Realities). Drawing mid-air strokes precisely on the surface of a 3D virtual object, however, is difficult; necessitating a…

Mobile 3D printing on unstructured terrain remains challenging due to the conflict between platform mobility and deposition precision. Existing gantry-based systems achieve high accuracy but lack mobility, while mobile platforms struggle to…

Vision foundation models trained on massive amounts of visual data have shown unprecedented reasoning and planning skills in open-world settings. A key challenge in applying them to robotic tasks is the modality gap between visual data and…

Developable surfaces are commonly observed in various applications such as architecture, product design, manufacturing, mechanical materials, and data physicalization as well as in the development of tangible interaction and deformable…

Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp…

A novel quadcopter capable of changing shape mid-flight is presented, allowing for operation in four configurations with the capability of sustained hover in three. This is accomplished without requiring actuators beyond the four motors…