相关论文: Forming and Controlling Hitches in Midair Using Ae…
In this paper, we propose a general unified tracking-servoing approach for controlling the shape of elastic deformable objects using robotic arms. Our approach works by forming a lattice around the object, binding the object to the lattice,…
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,…
Perching with winged Unmanned Aerial Vehicles has often been solved by means of complex control or intricate appendages. Here, we present a simple yet novel method that relies on passive wing morphing for crash-landing on trees and other…
The interaction of robots with bendable objects in midair presents significant challenges in control, often resulting in performance degradation and potential crashes, especially for aerial robots due to their limited actuation capabilities…
We implement and evaluate different methods for the reconfiguration of a connected arrangement of tiles into a desired target shape, using a single active robot that can move along the tile structure. This robot can pick up, carry, or drop…
To design a general-purpose assembly robot system that can handle objects of various shapes, we propose a soft jig that fits to the shapes of assembly parts. The functionality of the soft jig is based on a jamming gripper developed in the…
This paper presents an aerial platform capable of performing physically interactive tasks in unstructured environments with human-like dexterity under human supervision. This aerial platform consists of a humanoid torso attached to a…
High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-Suspended Aerial Manipulator (SAM) is presented in this…
In cable driven parallel robots (CDPRs), the payload is suspended using a network of cables whose length can be controlled to maneuver the payload within the workspace. Compared to rigid link robots, CDPRs provide better maneuverability due…
Soft robots enable safe, adaptive interaction with complex environments but remain difficult to sense and control due to their highly deformable structures. Architected soft materials such as helicoid lattices offer tunable stiffness and…
Continuum robots are becoming increasingly popular for applications which require the robots to deform and change shape, while also being compliant. A cable-driven continuum robot is one of the most commonly used type. Typical cable driven…
Planning robot dexterity is challenging due to the non-smoothness introduced by contacts, intricate fine motions, and ever-changing scenarios. We present a hierarchical planning framework for dexterous robotic manipulation (HiDex). This…
As soft robot design matures, researchers have converged to sophisticated design paradigms to enable the development of more suitable platforms. Two such paradigms are soft-rigid hybrid robots, which utilize rigid structural materials in…
Recent research efforts have yielded significant advancements in manipulating objects under homogeneous settings where the robot is required to either manipulate rigid or deformable (soft) objects. However, the manipulation under…
Manipulation of deformable objects is a desired skill in making robots ubiquitous in manufacturing, service, healthcare, and security. Deformable objects are common in our daily lives, e.g., wires, clothes, bed sheets, etc., and are…
This paper presents the design concept, modeling and motion planning solution for the aerial robotic chain. This design represents a configurable robotic system of systems, consisting of multi-linked micro aerial vehicles that…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…
Rigid-formation navigation of multiple robots is essential for applications such as cooperative transportation. This process involves a team of collaborative robots maintaining a predefined geometric configuration, such as a square, while…
Robotic manipulation of deformable linear objects (DLOs) presents significant challenges due to complex dynamics and frequent self-occlusions. Existing robotic knot tying methods typically rely on precise topological state tracking with…