相关论文: Development of a Multi-Fingered Soft Gripper Digit…

Sim-to-real transfer remains a significant challenge in soft robotics due to the unpredictability introduced by common manufacturing processes such as 3D printing and molding. These processes often result in deviations from simulated…

Under-actuated robot grippers as a pervasive tool of robots have become a considerable research focus. Despite their simplicity of mechanical design and control strategy, they suffer from poor versatility and weak adaptability, making…

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…

Grasping has long been considered an important and practical task in robotic manipulation. Yet achieving robust and efficient grasps of diverse objects is challenging, since it involves gripper design, perception, control and learning, etc.…

We present a novel under-actuated gripper with two 3-joint fingers, which realizes force feedback control by the deep learning technique- Long Short-Term Memory (LSTM) model, without any force sensor. First, a five-linkage mechanism stacked…

After Big Data and Artificial Intelligence (AI), the subject of Digital Twins has emerged as another promising technology, advocated, built, and sold by various IT companies. The approach aims to produce highly realistic models of real…

This paper presents a shear-based control scheme for grasping and manipulating delicate objects with a Pisa/IIT anthropomorphic SoftHand equipped with soft biomimetic tactile sensors on all five fingertips. These `microTac' tactile sensors…

In the manufacturing industry, the digital twin (DT) is becoming a central topic. It has the potential to enhance the efficiency of manufacturing machines and reduce the frequency of errors. In order to fulfill its purpose, a DT must be an…

We present a computational design system that assists users to model, optimize, and fabricate quad-robots with soft skins.Our system addresses the challenging task of predicting their physical behavior by fully integrating the multibody…

One of the trendsetting themes in soft robotics has been the goal of developing the ultimate universal soft robotic gripper. One that is capable of manipulating items of various shapes, sizes, thicknesses, textures, and weights. All the…

In the rapidly advancing field of robotics, dual-arm coordination and complex object manipulation are essential capabilities for developing advanced autonomous systems. However, the scarcity of diverse, high-quality demonstration data and…

A digital twin is a surrogate model that has the main feature to mirror the original process behavior. Associating the dynamical process with a digital twin model of reduced complexity has the significant advantage to map the dynamics with…

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…

Robots are unrelentingly used to achieve operational efficiency in Industry 4.0 along with symbiotic and sustainable assistance for the work-force in Industry 5.0. As resilience, robustness, and well-being are required in anti-fragile…

Soft growing robots, are a type of robots that are designed to move and adapt to their environment in a similar way to how plants grow and move with potential applications where they could be used to navigate through tight spaces, dangerous…

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…

This paper presents a novel methodological framework, called the Actor-Simulator, that incorporates the calibration of digital twins into model-based reinforcement learning for more effective control of stochastic systems with complex…

Sim2Real (Simulation to Reality) techniques have gained prominence in robotic manipulation and motion planning due to their ability to enhance success rates by enabling agents to test and evaluate various policies and trajectories. In this…

In this paper, a reinforced soft robot prototype with a custom-designed actuator-space string encoder are created to investigate dynamic soft robotic trajectory tracking. The soft robot prototype embedded with the proposed adaptive…

Soft robots are typically approximated as low-dimensional systems, especially when learning-based methods are used. This leads to models that are limited in their capability to predict the large number of deformation modes and interactions…