相关论文: Responsive Hydrogel-based Modular Microrobots for …
Two types of high-strength composite hydrogels possessing the structure of interpenetrating polymer networks were synthesized via free-radical polymerization of acrylamide carried out straight within the matrix of plant or bacterial…
Very recently, the construction of twist actuators from magnetorheological gels and elastomers has been suggested. These materials consist of magnetizable colloidal particles embedded in a soft elastic polymeric environment. The twist…
Many current robot designs prioritize efficiency and one-size-fits-all solutions, oftentimes overlooking personalization, adaptability, and sustainability. To explore alternatives, we conducted two co-design workshops with 23 participants,…
Macrocellular silicone polymers are obtained after solidification of the continuous phase of a PDMS (polydimethylsiloxane) emulsion, which contains PEG (polyethylene glycol) drops of sub-millimetric dimensions. Coalescence of the liquid…
Wearable robots are limited by their actuators performances because they must bear the weight of their own power system and energy source. This paper explores the idea of leveraging hybrid modes to meet multiple operating points with a…
Modular robots offer reconfigurability and fault tolerance essential for lunar missions, but require controllers that adapt safely to real-world disturbances. We build on our previous hardware-agnostic actuator synchronization in Motion…
In this paper, we consider folding assembly as an assembly primitive suitable for dual-arm robotic assembly, that can be integrated in a higher level assembly strategy. The system composed by two pieces in contact is modelled as an…
Modular Active Cell Robots (MACROs) is a design approach in which a large number of linear actuators and passive compliant joints are assembled to create an active structure with a repeating unit cell. Such a mesh-like robotic structure can…
Using optical tweezers and a haptic device, microspheres having diameters ranging from 3 to 4 um (floating in a fluid solution) are manipulated in order to form patterns of coupled optical microresonators by assembling the spheres via…
An external magnetic field can be used to remotely control small-scaled robots, making them promising candidates for diverse biomedical and engineering applications. We showed that our magnetically actuated millirobot is highly agile and…
Nowadays, magnetoresponsive soft materials, based not simply on magnetic nanoparticles, but rather on multiple components with distinct sizes and magnetic properties, both in liquid and polymeric carriers, are becoming more and more…
This paper proposes an adaptive modular geometric control framework for robotic manipulators. The proposed methodology decomposes the overall manipulator dynamics into individual modules, enabling the design of local geometric control laws…
Soft robotics is a rapidly growing area of robotics research that would benefit greatly from design automation, given the challenges of manually engineering complex, compliant, and generally non-intuitive robot body plans and behaviors. It…
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…
Bimanual robot manipulators can achieve impressive dexterity, but typically rely on two full six- or seven- degree-of-freedom arms so that paired grippers can coordinate effectively. This traditional framework increases system complexity…
Molecular electronic devices are the upmost destiny of the miniaturization trend of electronic components. Although not yet reproducible on large scale, molecular devices are since recently subject of intense studies both experimentally and…
In this research report details of design of a miniature wheel arrangement are presented. This miniature wheel arrangement is essentially a direction control mechanism intended for use on a mobile robot platform or base. The design is a…
Shape-programmable soft materials that exhibit integrated multifunctional shape manipulations, including reprogrammable, untethered, fast, and reversible shape transformation and locking, are highly desirable for a plethora of applications,…
Unilateral interparticle interactions have an effect on the elastic response of granular materials due to the opening and closing of contacts during quasi-static shear deformations. A simplified model is presented, for which constitutive…
Soft robots show compliance and have infinite degrees of freedom. Thanks to these properties, such robots can be leveraged for surgery, rehabilitation, biomimetics, unstructured environment exploring, and industrial grippers. In this case,…