相关论文: A Novel Approach to Grasping Control of Soft Robot…
The concept of a digital twin (DT) plays a pivotal role in the ongoing digital transformation and has achieved significant strides for various wireless applications in recent years. In particular, the field of autonomous vehicles is a…
Aerial robots have garnered significant attention due to their potential applications in various industries, such as inspection, search and rescue, and drone delivery. Successful missions often depend on the ability of these robots to grasp…
We introduce a unified framework for gentle robotic grasping that synergistically couples real-time friction estimation with adaptive grasp control. We propose a new particle filter-based method for real-time estimation of the friction…
Grasping object,whether they are flat, round, or narrow and whether they have regular or irregular shapes,introduces difficulties in determining the ideal grasping posture, even for the most state-of-the-art grippers. In this article, we…
Soft grippers, with their inherent compliance and adaptability, show advantages for delicate and versatile manipulation tasks in robotics. This paper presents a novel approach to underactuated control of multiple soft actuators, explicitly…
Recently, suction-based robotic systems with microscopic features or active suction components have been proposed to grip rough and irregular surfaces. However, sophisticated fabrication methods or complex control systems are required for…
Soft robotic grippers facilitate contact-rich manipulation, including robust grasping of varied objects. Yet the beneficial compliance of a soft gripper also results in significant deformation that can make precision manipulation…
Robotic grippers are receiving increasing attention in various industries as essential components of robots for interacting and manipulating objects. While significant progress has been made in the past, conventional rigid grippers still…
Grasping using an aerial robot can have many applications ranging from infrastructure inspection and maintenance to precise agriculture. However, aerial grasping is a challenging problem since the robot has to maintain an accurate position…
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity,…
Digital Twins (DTs) are virtual representations of physical systems synchronized in real time through Internet of Things (IoT) sensors and computational models. In industrial applications, DTs enable predictive maintenance, fault diagnosis,…
We consider the problem of grasping deformable objects with soft shells using a robotic gripper. Such objects have a center-of-mass that changes dynamically and are fragile so prone to burst. Thus, it is difficult for robots to generate…
The real-time supervision of production processes is a common challenge across several industries. It targets process component monitoring and its predictive maintenance in order to ensure safety, uninterrupted production and maintain high…
Rigid grippers used in existing aerial manipulators require precise positioning to achieve successful grasps and transmit large contact forces that may destabilize the drone. This limits the speed during grasping and prevents "dynamic…
External collisions to robot actuators typically pose risks to grasping circular objects. This work presents a vision-based sensing module capable of detecting collisions to maintain stable grasping with a soft gripper system. The system…
Digital Twins are increasingly being introduced for smart manufacturing systems to improve the efficiency of the main disciplines of such systems. Formal techniques, such as graphs, are a common way of describing Digital Twin models,…
By amalgamating recent communication and control technologies, computing and data analytics techniques, and modular manufacturing, Industry~4.0 promotes integrating cyber-physical worlds through cyber-physical systems (CPS) and digital twin…
This paper proposes a controller for stable grasping of unknown-shaped objects by two robotic fingers with tactile fingertips. The grasp is stabilised by rolling the fingertips on the contact surface and applying a desired grasping force to…
Commonly adopted in the manufacturing and aerospace sectors, digital twin (DT) platforms are increasingly seen as a promising paradigm to control and monitor software-based, "open", communication systems, which play the role of the physical…
Digital twins (DT) of industrial processes have become increasingly important. They aim to digitally represent the physical world to help evaluate, optimize, and predict physical processes and behaviors. Therefore, DT is a vital tool to…