相关论文: CARDinality: Interactive Card-shaped Robots with L…
Under-actuated compliant robotic systems offer a promising approach to mitigating actuation and control challenges by harnessing pre-designed, embodied dynamic behaviors. This paper presents Flix-Walker, a novel, untethered,…
Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-friction environments it provides that the entire interaction is…
Tactile information plays a critical role in human dexterity. It reveals useful contact information that may not be inferred directly from vision. In fact, humans can even perform in-hand dexterous manipulation without using vision. Can we…
Biomimicry has played a pivotal role in robotics. In contrast to rigid robots, bio-inspired robots exhibit an inherent compliance, facilitating versatile movements and operations in constrained spaces. The robot implementation in…
Haptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their proprioception. However, this ability is extremely challenging to…
Contact-rich manipulation has become increasingly important in robot learning. However, previous studies on robot learning datasets have focused on rigid objects and underrepresented the diversity of pressure conditions for real-world…
The contact-rich nature of manipulation makes it a significant challenge for robotic teleoperation. While haptic feedback is critical for contact-rich tasks, providing intuitive directional cues within wearable teleoperation interfaces…
Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…
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,…
Despite the advancement in robotic grasping and dexterity through haptic information, affective social touch, such as handshaking or reassuring stroking, remains a major challenge in Human-Robot-Interaction. This position paper examines…
We describe opportunities and challenges with wireless robotic materials. Robotic materials are multi-functional composites that tightly integrate sensing, actuation, computation and communication to create smart composites that can sense…
Friction is the essential mediator of terrestrial locomotion, yet in robotic systems it is almost always treated as a passive property fixed by surface materials and conditions. Here, we introduce ultrasonic lubrication as a method to…
Humans can leverage physical interaction to teach robot arms. As the human kinesthetically guides the robot through demonstrations, the robot learns the desired task. While prior works focus on how the robot learns, it is equally important…
Much of the Earth and many surfaces of extraterrestrial bodies are composed of in-cohesive particle matter. Locomoting on granular terrain is challenging for common robotic devices, either wheeled or legged. In this work, we discover a…
In this paper, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an online solid mechanics simulation provided by the SOFA…
Over the past few decades, efforts have been made towards robust robotic grasping, and therefore dexterous manipulation. The soft gripper has shown their potential in robust grasping due to their inherent properties-low, control complexity,…
The applications of fingertip haptic devices have spread to various fields from revolutionizing virtual reality and medical training simulations to facilitating remote robotic operations, proposing great potential for enhancing user…
Flexible robots have advantages over rigid robots in their ability to conform physically to their environment and to form a wide variety of shapes. Sensing the force applied by or to flexible robots is useful for both navigation and…
Bipedal robots are a fascinating and advanced category of robots designed to mimic human form and locomotion. The development of the bipedal robots is a significant milestone in robotics. However, even the most advanced bipedal robots are…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…