相关论文: Development of a Multi-Fingered Soft Gripper Digit…
Digital Twin was introduced over a decade ago, as an innovative all-encompassing tool, with perceived benefits including real-time monitoring, simulation and forecasting. However, the theoretical framework and practical implementations of…
In this project, we focus on human-robot interaction in caregiving scenarios like bathing, where physical contact is inevitable and necessary for proper task execution because force must be applied to the skin. Using finite element…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…
This chapter provides an introduction to the foundations of digital twins and makes the case for employing them in smart grids. As engineered systems become more complex and autonomous, digital twin technology gains importance as the…
While much work has been done recently in the realm of model-based control of soft robots and soft-rigid hybrids, most works examine robots that have an inherently serial structure. While these systems have been prevalent in the literature,…
Digital twins are sophisticated software systems for the representation, monitoring, and control of cyber-physical systems, including automotive, avionics, smart manufacturing, and many more. Existing definitions and reference models of…
As the manufacturing industry shifts from mass production to mass customization, there is a growing emphasis on adopting agile, resilient, and human-centric methodologies in line with the directives of Industry 5.0. Central to this…
Machine learning is now playing important role in robotic object manipulation. In addition, force control is necessary for manipulating various objects to achieve robustness against perturbations of configurations and stiffness. The…
The potential of digital twin technology is yet to be fully realized due to its diversity and untapped potential. Digital twins enable systems' analysis, design, optimization, and evolution to be performed digitally or in conjunction with a…
The manual design of soft robots and their controllers is notoriously challenging, but it could be augmented---or, in some cases, entirely replaced---by automated design tools. Machine learning algorithms can automatically propose, test,…
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
Fast grasping is critical for mobile robots in logistics, manufacturing, and service applications. Existing methods face fundamental challenges in impact stabilization under high-speed motion, real-time whole-body coordination, and…
This study presents an innovative approach to optimal gait control for a soft quadruped robot enabled by four Compressible Tendon-driven Soft Actuators (CTSAs). Improving our previous studies of using model-free reinforcement learning for…
Engineering regulatory compliance in complex Cyber-Physical Systems (CPS), such as smart warehouse logistics, is challenging due to the open and dynamic nature of these systems, scales, and unpredictable modes of human-robot interactions…
Digital Twins promise to deliver a step-change in distribution system operations and planning, but there are few real-world examples that explore the challenges of combining imperfect model and measurement data, and then use these as the…
The internal structure of the Fin-Ray fingers plays a significant role in their adaptability and grasping performance. However, modeling the grasp force and deformation behavior for design purposes is challenging. When the Fin-Ray finger…
While soft robot manipulators offer compelling advantages over rigid counterparts, including inherent compliance, safe human-robot interaction, and the ability to conform to complex geometries, accurate forward modeling from low-dimensional…
We automate soft robotic hand design iteration by co-optimizing design and control policy for dexterous manipulation skills in simulation. Our design iteration pipeline combines genetic algorithms and policy transfer to learn control…
Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…