相关论文: SMORS: A soft multirotor UAV for multimodal locomo…
Supernumerary Robotic Limbs (SRLs) are wearable robots augmenting human capabilities by acting as a co-worker, reaching objects, support human arms, etc. However, existing SRLs lack the mechanical backdrivability and bandwidth required for…
This article presents a novel SOFA based finite element method for the soft body modeling and the corresponding dynamic simulation and control of a pneumatic morphing soft quadrotor. The proposed modeling preserves the physical…
Birds in nature perform perching not only for rest but also for interaction with human such as the relationship with falconers. Recently, researchers achieve perching-capable aerial robots as a way to save energy, and deformable structure…
Soft mobile robots have emerged as a promising area of research with potential applications in various disciplines including but not limited to search-and-rescue, service, surveillance, explorations, and manufacturing. In this article, we…
This paper presents the ARCAD simulator for the rapid development of Unmanned Aerial Systems (UAS), including underactuated and fully-actuated multirotors, fixed-wing aircraft, and Vertical Take-Off and Landing (VTOL) hybrid vehicles. The…
Swarm User Interfaces allow dynamic arrangement of user environments through the use of multiple mobile robots, but their operational range is typically confined to a single plane due to constraints imposed by their two-wheel propulsion…
The aerial manipulator (AM) is a systematic operational robotic platform in high standard on algorithm robustness. Directly deploying the algorithms to the practical system will take numerous trial and error costs and even cause destructive…
This paper presents a first contribution to the design of a small aerial robot for inhabited microgravity environments, such as orbiting space stations. In particular, we target a fleet of robots for collaborative tasks with humans, such as…
Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…
In various industrial sectors, inspection and maintenance tasks using UAV (Unmanned Aerial Vehicle) require substantial force application to ensure effective adherence and stable contact, posing significant challenges to existing solutions.…
Snake robots are characterized by their ability to navigate through small spaces and loose terrain by utilizing efficient cyclic forms of locomotion. Soft snake robots are a subset of these robots which utilize soft, compliant actuators to…
Pneumatic actuation benefits soft robotics by facilitating compliance, enabling large volume change, and concentrating actuator weight away from the end-effector. However, portability is compromised when pneumatic actuators are tethered to…
We present a multirotor architecture capable of aggressive autonomous flight and collision-free teleoperation in unstructured, GPS-denied environments. The proposed system enables aggressive and safe autonomous flight around clutter by…
Soft robotics have gained increased attention from the robotic community due to their unique features such as compliance and human safety. Impressive amount of soft robotic prototypes have shown their superior performance over their rigid…
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.…
In this work we present a framework that is capable of accurately representing soft robotic actuators in a multiphysics environment in real-time. We propose a constraint-based dynamics model of a 1-dimensional pneumatic soft actuator that…
Bio-inspired soft robots have already shown the ability to handle uncertainty and adapt to unstructured environments. However, their availability is partially restricted by time-consuming, costly and highly supervised design-fabrication…
We present the modeling, design, fabrication and feedback control of an earthworm-inspired soft robot capable of crawling on surfaces by actively manipulating the frictional force between its body and the surface. Earthworms are segmented…
Soft robots have drawn great interest due to their ability to take on a rich range of shapes and motions, compared to traditional rigid robots. However, the motions, and underlying statics and dynamics, pose significant challenges to…
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…