相关论文: A High-frequency, Interaction-induced Pneumatic Os…
For safe and effective operation of humanoid robots in human-populated environments, the problem of commanding a large number of Degrees of Freedom (DoF) while simultaneously considering dynamic obstacles and human proximity has still not…
The manipulation of large objects and safe operation in the vicinity of humans are key capabilities of a general purpose domestic robotic assistant. We present the design of a soft, tactile-sensing humanoid upper-body robot and demonstrate…
Current aerial robots demonstrate limited interaction capabilities in unstructured environments when compared with their biological counterparts. Some examples include their inability to tolerate collisions and to successfully land or perch…
Teleoperation of humanoid robots has long been a challenging domain, necessitating advances in both hardware and software to achieve seamless and intuitive control. This paper presents an integrated solution based on several elements:…
This paper presents a soft earthworm robot that is capable of both efficient locomotion and obstacle avoidance. The robot is designed to replicate the unique locomotion mechanisms of earthworms, which enable them to move through narrow and…
Fluid-based soft actuators are an attractive option for lightweight and human-safe robots. These actuators, combined with fluid pressure force feedback, are in principle a form of series-elastic actuation (SEA), in which nearly all…
Soft robotics leverages deformable materials to develop robots capable of navigating unstructured and dynamic environments. Silicone Voxel-Based Soft Robots (Silibots) are a type of pneumatically actuated soft robots that rely on the…
In nature, animals often need to move/manipulate objects comparable in weight/size to their own bodies. Compared to grasping and carrying, pushing provides a more straightforward and efficient non-prehensile manipulation strategy, avoiding…
Different from conventional electroactive polymers, here we firstly present a new facile actuator made from aluminum alloy. The high-frequency electrically induced flapping motion was characterized under varied physical factors. This…
This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400~g at take-off, the mechanism is actuated in the forward body direction, enabling precise position…
Grasping a variety of objects remains a key challenge in the development of versatile robotic systems. The human hand is remarkably dexterous, capable of grasping and manipulating objects with diverse shapes, mechanical properties, and…
Rescue missions in mountain environments are hardly achievable by standard legged robots-because of the high slopes-or by flying robots-because of limited payload capacity. We present a concept for a rope-aided climbing robot which can…
Conventional soft pneumatic actuators, typically based on hollow elastomeric chambers, often suffer from small structural support and require costly geometry-specific redesigns for multimodal functionality. Porous materials such as foam,…
Soft robots offer a frontier in robotics with enormous potential for safe human-robot interaction and agility in uncertain environments. A stepping stone towards unlocking their potential is a control theory tailored to soft robotics,…
This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed…
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…
Object manipulation in robotics faces challenges due to diverse object shapes, sizes, and fragility. Gripper-based methods offer precision and low degrees of freedom (DOF) but the gripper limits the kind of objects to grasp. On the other…
There is a growing need for robots that can change their shape, size and mechanical properties to adapt to evolving tasks and environments. However, current shape-changing systems generally utilize bespoke, system-specific mechanisms that…
Robot grasping is subject to an inherent tradeoff: Grippers with a large span typically take a longer time to close, and fast grippers usually cover a small span. However, many practical applications of soft grippers require the ability to…
Biological muscles have always attracted robotics researchers due to their efficient capabilities in compliance, force generation, and mechanical work. Many groups are working on the development of artificial muscles, however,…