相关论文: Design of Stickbug: a Six-Armed Precision Pollinat…
To reproduce natural standing-up motion, recent studies have emphasized the importance of coordination between the assisting robot and the human. However, many non-wearable assistive devices have struggled to replicate natural motion…
While bio-inspired and biomimetic systems draw inspiration from living materials, biohybrid systems incorporate them with synthetic devices, allowing the exploitation of both organic and artificial advantages inside a single entity. In the…
This paper introduces a novel approach to address the problem of Physical Robot Interaction (PRI) during robot pushing tasks. The approach uses a data-driven forward model based on tactile predictions to inform the controller about…
Complexity, cost, and power requirements for the actuation of individual robots can play a large factor in limiting the size of robotic swarms. Here we present PCBot, a minimalist robot that can precisely move on an orbital shake table…
Swarm robotics is a creative method of organizing multi-robot structures, consisting of many basic robots influenced by communal insects. The greatest astonishing attribute of swarm robots is their capacity to function together to…
Acoustophoresis has enabled novel interaction capabilities, such as levitation, volumetric displays, mid-air haptic feedback, and directional sound generation, to open new forms of multimodal interactions. However, its traditional…
Simulating greenhouse environments is critical for developing and evaluating robotic systems for agriculture, yet existing approaches rely on simplistic or synthetic assets that limit simulation-to-real transfer. Recent advances in radiance…
DribbleBot (Dexterous Ball Manipulation with a Legged Robot) is a legged robotic system that can dribble a soccer ball under the same real-world conditions as humans (i.e., in-the-wild). We adopt the paradigm of training policies in…
Swing arms have an irreplaceable role in promoting highly dynamic locomotion on bipedal robots by a larger angular momentum control space from the viewpoint of biomechanics. Few bipedal robots utilize swing arms and its redundancy…
Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm…
This paper introduces an innovative dataset specifically crafted for challenging agricultural settings (a greenhouse), where achieving precise localization is of paramount importance. The dataset was gathered using a mobile platform…
Soft-growing robots (i.e., vine robots) are a promising class of soft robots that allow for navigation and growth in tightly confined environments. However, these robots remain challenging to model and control due to the complex interplay…
The design of a mouldboard (MB) plough is critical for achieving efficient soil inversion, which directly impacts soil aeration, weed control, and overall agricultural productivity. In this work, a design modification of the…
Smart weeding systems to perform plant-specific operations can contribute to the sustainability of agriculture and the environment. Despite monumental advances in autonomous robotic technologies for precision weed management in recent…
The need for higher agricultural productivity has demanded the intensive use of pesticides. However, their correct use depends on assessment methods that can accurately predict how well the pesticides' spraying covered the intended crop…
A wide range of engineering design problems have been solved by the algorithms that simulates collective intelligence in swarms of birds or insects. The Artificial Bee Colony or ABC is one of the recent additions to the class of swarm…
Many manipulation tasks require the robot to rearrange objects relative to one another. Such tasks can be described as a sequence of relative poses between parts of a set of rigid bodies. In this work, we propose MATCH POLICY, a simple but…
In modern robotic applications, tactile sensor arrays (i.e., artificial skins) are an emergent solution to determine the locations of contacts between a robot and an external agent. Localizing the point of contact is useful but determining…
This project aims to develop and demonstrate a ground robot with intelligence capable of conducting semi-autonomous farm operations for different low-heights vegetable crops referred as Agriculture Application Robot(AAR). AAR is a…
This paper presents AlphaGarden: an autonomous polyculture garden that prunes and irrigates living plants in a 1.5m x 3.0m physical testbed. AlphaGarden uses an overhead camera and sensors to track the plant distribution and soil moisture.…