相关论文: A Novel Twisted-Winching String Actuator for Robot…
Soft robots are powerful tools for manipulating delicate objects, yet their adoption is hindered by two gaps: the lack of integrated tactile sensing and sensor signal distortion caused by actuator deformations. This paper addresses these…
Soft actuators have shown great advantages in compliance and morphology matched for manipulation of delicate objects and inspection in a confined space. There is an unmet need for a soft actuator that can provide torsional motion to e.g.…
With a slender redundant body, the tendon-driven robot (TDR) has a large workspace and great maneuverability while working in complex environments. TDR comprises multiple independently controlled robot segments, each with a set of driving…
Graph-based learning excels at capturing interaction patterns in diverse domains like recommendation, fraud detection, and particle physics. However, its performance often degrades under distribution shifts, especially those altering…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…
We investigate the effect of wing twist flexibility on lift and efficiency of a flapping-wing micro air vehicle capable of liftoff. Wings used previously were chosen to be fully rigid due to modeling and fabrication constraints. However,…
The increasing industrial demand for alternative actuators over conventional electromagnetism-based systems having limited efficiency, bulky size, complex design due to in-built gear-train mechanisms, and high production and amortization…
Design of robotic systems that safely and efficiently operate in uncertain operational conditions, such as rehabilitation and physical assistance robots, remains an important challenge in the field. Current methods for the design of energy…
Robotic arms are essential to modern industries, however, their adaptability to unstructured environments remains limited. Soft robotic arms, particularly those actuated pneumatically, offer greater adaptability in unstructured environments…
Movable antennas (MAs) enhance flexibility in beamforming gain and interference suppression by adjusting position within certain areas of the transceivers. In this paper, we propose an MA-assisted integrated sensing and communication…
Stiffness variation and real-time position feedback are critical for any robotic system but most importantly for active and wearable devices to interact with the user and environment. Currently, for compact sizes, there is a lack of…
Pneumatic actuation benefits soft robotics by facilitating compliance, enabling large volume change, and concentrating actuator weight away from the end-effector. However, portability is compromised when pneumatic actuators are tethered to…
This paper presents modeling of a compliant 2D manipulator, a so called soft hydraulic/fluidic elastomer actuator. Our focus is on fiber-Reinforced Fluidic Elastomer Actuators (RFEA) driven by a constant pressure hydraulic supply and…
Robotic dual-arm twisting is a common but very challenging task in both industrial production and daily services, as it often requires dexterous collaboration, a large scale of end-effector rotating, and good adaptivity for object…
Variable stiffness is a key capability in biological and robotic systems, enabling adaptive interaction across tasks and environments. Mechanical metamaterials offer an alternative to conventional mechatronic solutions by encoding stiffness…
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…
Inspired by the dexterous handling ability of an elephant's trunk, we propose a pneumatic actuator that generates diverse bending and extension motions in a flexible arm. The actuator consists of two flexible tubes. Each flexible tube is…
Dynamic in-hand manipulation remains a challenging task for soft robotic systems that have demonstrated advantages in safe compliant interactions but struggle with high-speed dynamic tasks. In this work, we present SWIFT, a system for…
Robotic manipulation tasks such as inserting a key into a lock or plugging a USB device into a port can fail when visual perception is insufficient to detect misalignment. In these situations, touch sensing is crucial for the robot to…
This paper presents a Load-Based Variable Transmission (LBVT) mechanism designed to enhance robotic actuation by dynamically adjusting the transmission ratio in response to external torque demands. Unlike existing variable transmission…