相关论文: FAVbot: An Autonomous Target Tracking Micro-Robot …
Soft robotics have gained increased attention from the robotic community due to their unique features such as compliance and human safety. Impressive amount of soft robotic prototypes have shown their superior performance over their rigid…
In this paper, we propose an integrated dynamical model of Connected and Automated Vehicles (CAVs) which incorporates CAV technologies and a microscopic car-following model to improve safety, efficiency and convenience. We rigorously…
We present a new evolution of the Very Little Eel-Inspired roBot, the VLEIBot++, a 900-mg swimmer driven by two 10-mg bare high-work density (HWD) actuators, whose functionality is based on the use of shape-memory alloy (SMA) wires. An…
The paper introduces a novel autonomous robot ultrasound (US) system targeting liver follow-up scans for outpatients in local communities. Given a computed tomography (CT) image with specific target regions of interest, the proposed system…
Few-shot object detection has attracted increasing attention and rapidly progressed in recent years. However, the requirement of an exhaustive offline fine-tuning stage in existing methods is time-consuming and significantly hinders their…
This paper presents the mechatronic design, dynamic modeling, and experimental validation of a three-degree-of-freedom (3-DOF) micro parallel robot featuring a prismatic-spherical (3PS) topology actuated by three Hydraulically Amplified…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
Acoustophoresis has enabled novel interaction capabilities, such as levitation, volumetric displays, mid-air haptic feedback, and directional sound generation, to open new forms of multimodal interactions. However, its traditional…
Small-scale autonomous airborne vehicles, such as micro-drones, are expected to be a central component of a broad spectrum of applications ranging from exploration to surveillance and delivery. This class of vehicles is characterized by…
The design process and complexity of existing safety controls are heavily determined by the geometrical properties of the environment, which affects the proof of convergence, design scalability, performance robustness, and numerical…
Tendon-driven under-actuated robotic fingers provide advantages for dexterous manipulation through reduced actuator requirements and simplified mechanical design. However, achieving both high load capacity and adaptive compliance in a…
Environmental monitoring is used to characterize the health and relationship between organisms and their environments. In forest ecosystems, robots can serve as platforms to acquire such data, even in hard-to-reach places where…
We present safe control of partially-observed linear time-varying systems in the presence of unknown and unpredictable process and measurement noise. We introduce a control algorithm that minimizes dynamic regret, i.e., that minimizes the…
We introduce a new low-power 13-mg microactuator driven by shape-memory alloy (SMA) wires for underwater operation. The development of this device was motivated by the recent creation of microswimmers such as the FRISHBot, WaterStrider,…
Perception within autonomous driving is nearly synonymous with Neural Networks (NNs). Yet, the domain of autonomous racing is often characterized by scaled, computationally limited robots used for cost-effectiveness and safety. For this…
Billions of vascular access procedures are performed annually worldwide, serving as a crucial first step in various clinical diagnostic and therapeutic procedures. For pediatric or elderly individuals, whose vessels are small in size…
Eye tracking is fundamental to numerous applications, yet achieving robust, high-frequency tracking with ultra-low power consumption remains challenging for wearable platforms. While event-based vision sensors offer microsecond resolution…
High-speed event-driven tactile sensors are essential for achieving human-like dynamic manipulation, yet their integration is often limited by the bulkiness of standard event cameras. This paper presents SpikingTac, a miniaturized, highly…
Powered by acoustics, existing therapeutic and diagnostic procedures will become less invasive and new methods will become available that have never been available before. Acoustically driven microrobot navigation based on microbubbles is a…
Nano-size unmanned aerial vehicles (UAVs) hold enormous potential to perform autonomous operations in complex environments, such as inspection, monitoring or data collection. Moreover, their small size allows safe operation close to humans…