相关论文: SLUGBOT, an Aplysia-inspired Robotic Grasper for S…

Tissue manipulation is a frequently used fundamental subtask of any surgical procedures, and in some cases it may require the involvement of a surgeon's assistant. The complex dynamics of soft tissue as an unstructured environment is one of…

It is prevalent in contemporary AI and robotics to separately postulate a brain modeled by neural networks and employ it to learn intelligent and adaptive behavior. While this method has worked very well for many types of tasks, it isn't…

Powered by acoustics, existing therapeutic and diagnostic procedures will become less invasive and new methods will become available that have never been available before. Acoustically driven microrobot navigation based on microbubbles is a…

Some of the threats in the dynamic environment include the unpredictability of the motion of objects and interferences to the robotic grasp. In such conditions the traditional supervised and reinforcement learning approaches are ill suited…

A robot's ability to complete a task is heavily dependent on its physical design. However, identifying an optimal physical design and its corresponding control policy is inherently challenging. The freedom to choose the number of links,…

Autonomous robotic boats are expected to perform several tasks: 1) navigate autonomously in water environments, such as the canals of Amsterdam; 2) perform individual task, such as water monitoring, transporting goods and people; 3) latch…

Robotic grasping under uncertainty remains a fundamental challenge due to its uncertain and contact-rich nature. Traditional rigid robotic hands, with limited degrees of freedom and compliance, rely on complex model-based and heavy feedback…

Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…

Under-actuated robot grippers as a pervasive tool of robots have become a considerable research focus. Despite their simplicity of mechanical design and control strategy, they suffer from poor versatility and weak adaptability, making…

Faced with strong demand for robots working in underwater pipeline environments, a novel underwater multi-model locomotion robot is designed and studied in this research. By mimicking the earthworm's metameric body, the robot is segmented…

In this paper, we present a novel and generic data-driven method to servo-control the 3-D shape of continuum and soft robots embedded with fiber Bragg grating (FBG) sensors. Developments of 3-D shape perception and control technologies are…

As the basis for prehensile manipulation, it is vital to enable robots to grasp as robustly as humans. Our innate grasping system is prompt, accurate, flexible, and continuous across spatial and temporal domains. Few existing methods cover…

Biologically-inspired robots are a very interesting and difficult branch of robotics dues to its very rich dynamical and morphological complexities. Among them, flying animals, such as bats, have been among the most difficult to take…

Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in…

DribbleBot (Dexterous Ball Manipulation with a Legged Robot) is a legged robotic system that can dribble a soccer ball under the same real-world conditions as humans (i.e., in-the-wild). We adopt the paradigm of training policies in…

Reproducing the diverse and agile locomotion skills of animals has been a longstanding challenge in robotics. While manually-designed controllers have been able to emulate many complex behaviors, building such controllers involves a…

Underwater robotics has advanced significantly over recent decades. however, the development of miniaturized underwater robots remains limited by low energy densities of traditional power sources. Nature offers compelling…

Nature has evolved a vast array of strategies for propulsion at the air-fluid interface. Inspired by a survival mechanism initiated by the honeybee (Apis mellifera) trapped on the surface of water, we here present the SurferBot: a…

Many organisms leverage an interplay between shape and activity to generate motion and adapt to their environment. Embedding such feedback into synthetic microrobots could eliminate the need for sensors, software, and actuators, yet current…

Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…