相关论文: Enabling Programmable Mechanical Functions Using M…

Grasping objects of different shapes and sizes - a foundational, effortless skill for humans - remains a challenging task in robotics. Although model-based approaches can predict stable grasp configurations for known object models, they…

The large demand for simulated data has made the reality gap a problem on the forefront of robotics. We propose a method to traverse the gap by tuning available simulation parameters. Through the optimisation of physics engine parameters,…

Robots and artificial machines have been captivating the public for centuries, depicted first as threats to humanity, then as subordinates and helpers. In the last decade, the booming exposure of humans to robots has fostered an increasing…

Feature engineering is a crucial step in the process of predictive modeling. It involves the transformation of given feature space, typically using mathematical functions, with the objective of reducing the modeling error for a given…

The ability to control Poisson's ratio of functional materials has been one of the main objectives of researchers attempting to develop structures efficient from the perspective of protective, biomedical and soundproofing devices. This task…

Machines enabled the Industrial Revolution and are central to modern technological progress: A machine's parts transmit forces, motion, and energy to one another in a predetermined manner. Today's engineering frontier, building artificial…

The paper presents a new formal way of modeling and designing reconfigurable robots, in which case the robots are allowed to reconfigure not only structurally but also functionally. We call such kind of robots "self-evolvable", which have…

High degree-of-freedom dual-arm robots are becoming increasingly common due to their morphology enabling them to operate effectively in human environments. However, motion planning in real-time within unknown, changing environments remains…

There is increasing demand for automated systems that can fabricate 3D structures. Robotic spatial extrusion has become an attractive alternative to traditional layer-based 3D printing due to a manipulator's flexibility to print large,…

Body posture influences human and robots performance in manipulation tasks, as appropriate poses facilitate motion or force exertion along different axes. In robotics, manipulability ellipsoids arise as a powerful descriptor to analyze,…

Compared to the micro continuum robots that use traditional manufacturing technology, the micro fabricated continuum robots are different in terms of the application of smart materials, additive manufacturing process, and physical field…

For most acoustic metamaterials, once they have been fabricated, their operating frequencies and functions cannot be adjusted, which is an intrinsic barrier for development of realistic applications. The study to overcome this limit has…

Robotic manipulation of unfamiliar objects in new environments is challenging and requires extensive training or laborious pre-programming. We propose a new skill transfer framework, which enables a robot to transfer complex object…

This article presents a new hand architecture with three under-actuated fingers. Each finger performs spatial movements to achieve more complex and varied grasping than the existing planar-movement fingers. The purpose of this hand is to…

This paper presents the principal challenges and opportunities associated with computational biomechanics research. The underlying cognitive control involved in the process of human motion is inherently complex, dynamic, multidimensional,…

We present parametric trajectory optimization, a method for simultaneously computing physical parameters, actuation requirements, and robot motions for more efficient robot designs. In this scheme, robot dimensions, masses, and other…

Mechanical metamaterials are structures designed to exhibit an exotic response, such as topological soft modes at a surface. Here we explore single-material 3D prints of these topological structures by translating a ball-and-spring model…

Many computer vision algorithms depend on a variety of parameter choices and settings that are typically hand-tuned in the course of evaluating the algorithm. While such parameter tuning is often presented as being incidental to the…

Reconfigurable metamaterials are constructed from tessellation of deformable modules that give rise to a set of tuneable properties. To date, most research focuses on metamaterials that morph between final configurations along a single…

Continuum and soft robots can leverage complex actuator shapes to take on useful shapes while actuating only a few of their many degrees of freedom. Continuum robots that also grow increase the range of potential shapes that can be actuated…