相关论文: Power, Control, and Data Acquisition Systems for R…

Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…

Warehouse robotic systems equipped with vacuum grippers must reliably grasp a diverse range of objects from densely packed shelves. However, these environments present significant challenges, including occlusions, diverse object…

We present a method for differentiable simulation of soft articulated bodies. Our work enables the integration of differentiable physical dynamics into gradient-based pipelines. We develop a top-down matrix assembly algorithm within…

Continuum and soft robots can leverage complex actuator shapes to take on useful shapes while actuating only a few of their many degrees of freedom. Continuum robots that also grow increase the range of potential shapes that can be actuated…

Aiming to achieve both high functionality and flexibility in soft robot system, this paper presents a soft urethane sheet-like valve with an amplifier that can perform logical operations using only pneumatic signals. When the control…

This new approach allows the user to experiment with model choices easily and quickly without requiring in-depth expertise, as constitutive models can be modified by one line of code only. This ease in building new models makes SOniCS ideal…

Robot skill acquisition processes driven by reinforcement learning often rely on simulations to efficiently generate large-scale interaction data. However, the absence of simulation models for tactile sensors has hindered the use of tactile…

Artificial muscles embody human aspirations for engineering lifelike robotic movements. This paper introduces an architecture for Inflatable Fluid-Driven Origami-Inspired Artificial Muscles (IN-FOAMs). A typical IN-FOAM consists of an…

This paper presents a new control approach for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control signals are computed using real-time optimization, including…

Force-aware grasping is an essential capability for most robots in practical applications. Especially for compliant grippers, such as Fin-Ray grippers, it still remains challenging to build a bidirectional mathematical model that mutually…

In the last few decades, several wearable devices have been designed to monitor respiration rate in an effort to capture pulmonary signals with higher accuracy and reduce patients' discomfort during use. In this article, we present the…

One of the difficulties of applying a SEA force control is the complexity that exists when implementing its three main components, which must work together one after the other. To facilitate the implementation of a force control by SEA, in…

Pharyngeal health plays a vital role in essential human functions such as breathing, swallowing, and vocalization. Early detection of swallowing abnormalities, also known as dysphagia, is crucial for timely intervention. However, current…

Robotic manipulation has seen rapid progress with vision-language-action (VLA) policies. However, visuo-tactile perception is critical for contact-rich manipulation, as tasks such as insertion are difficult to complete robustly using vision…

Electrically-driven soft robots based on piezoelectric actuators may enable compact form factors and maneuverability in complex environments. In most prior work, piezoelectric actuators are used to control a single degree of freedom. In…

In this paper, we present a novel control framework to achieve robust push recovery on bipedal robots while locomoting. The key contribution is the unification of hybrid system models of locomotion with a reduced-order model predictive…

Lower limb exoskeletons and prostheses require precise, real time gait phase and step detections to ensure synchronized motion and user safety. Conventional methods often rely on complex force sensing hardware that introduces control…

Soft robotic systems are known for their flexibility and adaptability, but traditional physics-based models struggle to capture their complex, nonlinear behaviors. This study explores a data-driven approach to modeling the…

The advent of tactile sensors in robotics has sparked many ideas on how robots can leverage direct contact measurements of their environment interactions to improve manipulation tasks. An important line of research in this regard is that of…

This paper introduces a novel design method that enhances the force/torque, bendability, and controllability of soft pneumatic actuators (SPAs). The complex structure of the soft actuator is simplified by approximating it as a cantilever…