相关论文: Passive Shape Locking for Multi-Bend Growing Infla…
Robust efficient loop closure detection is essential for large-scale real-time SLAM. In this paper, we propose a novel unsupervised deep neural network architecture of a feature embedding for visual loop closure that is both reliable and…
Voxel-based structures provide a modular, mechanically flexible periodic lattice which can be used as a soft robot through internal deformations. To engage these structures for robotic tasks, we use a finite element method to characterize…
Soft continuum robots can allow for biocompatible yet compliant motions, such as the ability of octopus arms to swim, crawl, and manipulate objects. However, current state-of-the-art continuum robots can only achieve real-time task-space…
The vision of creating entirely-soft robots capable of performing complex tasks will be accomplished only when the controllers required for autonomous operation can be fully implemented on soft components. Despite recent advances in…
This paper presents a combined task and motion planner for a robot arm to carry out 3D metal wire curving tasks by collaborating with a bending machine. We assume a collaborative robot that is safe to work in a human environment but has a…
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…
Soft robots are distinguished by their flexibility and adaptability, allowing them to perform nearly impossible tasks for rigid robots. However, controlling their behavior is challenging due to their nonlinear material response and infinite…
In-situ aeroengine maintenance works are highly beneficial as it can significantly reduce the current maintenance cycle which is extensive and costly due to the disassembly requirement of engines from aircrafts. However, navigating in/out…
Magnetic soft continuum robots are capable of bending with remote control in confined space environments, and they have been applied in various bioengineering contexts. As one type of ferromagnetic soft continuums, the Magnetically Induced…
In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…
Locomotion robots with active or passive compliance can show robustness to uncertain scenarios, which can be promising for agricultural, research and environmental industries. However, state estimation for these robots is challenging due to…
Legged manipulators extend robotic capabilities beyond static manipulation by integrating agile locomotion with versatile arm control. However, achieving precise manipulation while maintaining coordinated locomotion remains a major…
Soft robots are inherently compliant and have a strong potential to realize human-friendly and safe robots. Despite continued research highlighting the potential of soft robots, they remain largely confined to laboratory settings. In this…
Pneumatically operated soft growing robots that extend via tip eversion are well-suited for navigation in confined spaces. Adding the ability to interact with the environment using sensors and tools attached to the robot tip would greatly…
Here we present a flexible tip mount for eversion (vine) robots. This soft cap allows attaching a payload to an eversion robot while allowing moving through narrow openings, as well as the eversion of protruding objects, and expanded…
The robotic shape control of deformable linear objects has garnered increasing interest within the robotics community. Despite recent progress, the majority of shape control approaches can be classified into two main groups: open-loop…
Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new…
In this paper, we propose a novel and distributed formation control method for autonomous robots to follow the desired formation while tracking a moving target in dynamic environments. In our approach, the desired formations, which include…
The robotic shape control of deformable linear objects has garnered increasing interest within the robotics community. Despite recent progress, the majority of shape control approaches can be classified into two main groups: open-loop…
State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…