相关论文: Design Optimization of Wire Arrangement with Varia…
Despite the widespread adoption of industrial robots in automotive assembly, wire harness installation remains a largely manual process, as it requires precise and flexible manipulation. To address this challenge, we design a novel AI-based…
We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel…
Practical bipedal robot locomotion needs to be both energy efficient and robust to variability and uncertainty. In this paper, we build upon recent works in trajectory optimization for robot locomotion with two primary goals. First, we wish…
The joint optimization of physical parameters and controllers in robotic systems is challenging. This is due to the difficulties of predicting the effect that changes in physical parameters have on final performances. At the same time,…
This paper provides a method for the simultaneous topology optimization of parts and their corresponding joint locations in an assembly. Therein, the joint locations are not discrete and predefined, but continuously movable. The underlying…
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…
Control of wire-borne underactuated brachiating robots requires a robust feedback control design that can deal with dynamic uncertainties, actuator constraints and unmeasurable states. In this paper, we develop a robust feedback control for…
Recently, the centroidal momentum dynamics has received substantial attention to plan dynamically consistent motions for robots with arms and legs in multi-contact scenarios. However, it is also non convex which renders any optimization…
Soft robotic manipulators are attractive for a range of applications such as medical interventions or industrial inspections in confined environments. A myriad of soft robotic manipulators have been proposed in the literature, but their…
Executing multiple tasks concurrently is important in many robotic applications. Moreover, the prioritization of tasks is essential in applications where safety-critical tasks need to precede application-related objectives, in order to…
This paper presents a kinematic definition of a serialized Stewart platform designed for autonomous in-space assembly called an Assembler. The Assemblers architecture describes problems inherent to the inverse kinematics of over-actuated…
In Human-Robot Collaboration, the robot operates in a highly dynamic environment. Thus, it is pivotal to guarantee the robust stability of the system during the interaction but also a high flexibility of the robot behavior in order to…
Rational design strategies for self-assembly require a detailed understanding of both the equilibrium state and the assembly kinetics. While the former is starting to be well understood, the latter remains a major theoretical challenge,…
For robots to handle the numerous factors that can affect them in the real world, they must adapt to changes and unexpected events. Evolutionary robotics tries to solve some of these issues by automatically optimizing a robot for a specific…
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…
Automatically generating agile whole-body motions for legged and humanoid robots remains a fundamental challenge in robotics. While numerous trajectory optimization approaches have been proposed, there is no clear guideline on how the…
Compliant mechanisms actuated by pneumatic loads are receiving increasing attention due to their direct applicability as soft robots that perform tasks using their flexible bodies. Using multiple materials to build them can further improve…
Operating in environments too harsh or inaccessible for humans is one of the critical roles expected of robots. However, such environments often pose risks to electronic components as well. To overcome this, various approaches have been…
Modular robots can be tailored to achieve specific tasks and rearranged to achieve previously infeasible ones. The challenge is choosing an appropriate design from a large search space. In this work, we describe a framework that…
This paper presents a dynamic constraint formulation to provide protective virtual fixtures of 3D anatomical structures from polygon mesh representations. The proposed approach can anisotropically limit the tool motion of surgical robots…