相关论文: A Compliant Robotic Leg Based on Fibre Jamming
Contact modeling plays a central role in motion planning, simulation, and control of legged robots, as legged locomotion is realized through contact. The two prevailing approaches to model the contact consider rigid and compliant premise at…
This paper details an accessible geometric derivation of the forward and inverse kinematics of a parallel robotic linkage known as the Canfield joint, which can be used for pointing applications. The original purpose of the Canfield joint…
Continuum robots have gained widespread popularity due to their inherent compliance and flexibility, particularly their adjustable levels of stiffness for various application scenarios. Despite efforts to dynamic modeling and control…
Legged robots promise higher versatility and the ability to traverse much more difficult terrains than their wheeled counterparts. Even though the use of legged robots have increased drastically in the last few years, they are still not…
Robot hands that imitate the shape of the human body have been actively studied, and various materials and mechanisms have been proposed to imitate the human body. Although the use of soft materials is advantageous in that it can imitate…
Muscles of the human body are composed of tiny actuators made up of myosin and actin filaments. They can exert force in various shapes such as curved or flat, under contact forces and deformations from the environment. On the other hand,…
This paper presents the design and development of a highly articulated, continuum, wearable, fabric-based Soft Poly-Limb (fSPL). This fabric soft arm acts as an additional limb that provides the wearer with mobile manipulation assistance…
Legged robots have demonstrated remarkable agility on rigid, stationary ground, but their locomotion reliability remains limited in non-inertial environments, where the supporting ground moves, tilts, or accelerates. Such conditions arise…
To be useful tools in real scenarios, humanoid robots must realize tasks dynamically. This means that they must be capable of applying substantial forces, rapidly swinging their limbs, and also mitigating impacts that may occur during the…
Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…
Legged robots have achieved impressive feats in dynamic locomotion in challenging unstructured terrain. However, in entertainment applications, the design and control of these robots face additional challenges in appealing to human…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
Advanced machine learning algorithms require platforms that are extremely robust and equipped with rich sensory feedback to handle extensive trial-and-error learning without relying on strong inductive biases. Traditional robotic designs,…
The impressive capabilities of humans to robustly perform manipulation relies on compliant interactions, enabled through the structure and materials spatially distributed in our hands. We propose by mimicking this distributed compliance in…
Soft robots are compliant but often cannot support loads or hold their shape, while rigid robots provide structural strength but are less adaptable. Existing variable-stiffness systems usually operate at the scale of whole segments or…
Animals achieve robust locomotion by offloading regulation from the brain to physical couplings within the body. In contrast, locomotion in artificial systems often depends on centralized processors. We introduce a rapid and autonomous…
Reconfigurable robots refer to a category of robots that their components (individual joints and links) can be assembled in multiple configurations and geometries. Most of existing latching mechanisms are based on physical tools such as…
Purpose-This paper is based on design of a quadruped robot and manufacturing it with 3-D printer followed by its detailed analysis. It focuses on the advantages of additive manufacturing rather than conventional manufacturing techniques and…
Robot feet are crucial for maintaining dynamic stability and propelling the body during walking, especially on uneven terrains. Traditionally, robot feet were mostly designed as flat and stiff pieces of metal, which meets its limitations…