相关论文: CPG-Based Manipulation with Multi-Module Origami R…

Bio-inspired control of motion is an active field of research with many applications in real world tasks. In the case of robotic systems that need to exhibit oscillatory behaviour (i.e. locomotion of snake-type or legged robots), Central…

This paper introduces a new wheel-legged robot and develops motion controllers based on central pattern generators (CPGs) for the robot to navigate over a range of terrains. A transformable leg-wheel design is considered and characterized…

Soft robotics gripper have shown great promise in handling fragile and geometrically complex objects. However, most existing solutions rely on bulky actuators, complex control strategies, or advanced tactile sensing to achieve stable and…

Modular robotics enables the development of versatile and adaptive robotic systems with autonomous reconfiguration. This paper presents a modular robotic system in which each module has independent actuation, battery power, and control,…

While the grasping capability of robotic grippers has shown significant development, the ability to manipulate objects within the hand is still limited. One explanation for this limitation is the lack of controlled contact variation between…

Reconfigurable robots that can change their physical configuration post-fabrication have demonstrate their potential in adapting to different environments or tasks. However, it is challenging to determine how to optimally adjust…

Cyclic motions are fundamental patterns in robotic applications including industrial manipulation and legged robot locomotion. This paper proposes an approach for the online modulation of cyclic motions in robotic applications. For this…

Typical legged locomotion controllers are designed or trained offline. This is in contrast to many animals, which are able to locomote at birth, and rapidly improve their locomotion skills with few real-world interactions. Such motor…

This paper presents the design of a new soft-rigid robotic platform, "GeoGami". We leverage origami surface capabilities to achieve shape contraction and to support locomotion with underactuated forms. A key challenge is that origami…

Origami-inspired mechanisms can transform flat sheets into functional three-dimensional dynamic structures that are lightweight, compact, and capable of complex motion. These properties make origami increasingly valuable in robotic and…

The complexity of bipedal locomotion may be attributed to the difficulty in synchronizing joint movements while at the same time achieving high-level objectives such as walking in a particular direction. Artificial central pattern…

Shape-morphing finds widespread utility, from the deployment of small stents and large solar sails to actuation and propulsion in soft robotics. Origami structures provide a template for shape-morphing, but rules for designing and folding…

Electro-thermally actuated origami provides a novel method for creating 3-D systems with advanced morphing and functional capabilities. However, it is currently difficult to simulate the multi-physical behavior of such systems because the…

For a robot to be both autonomous and collaborative requires the ability to adapt its movement to a variety of external stimuli, whether these come from humans or other robots. Typically, legged robots have oscillation periods explicitly…

Origami structures have been widely explored in robotics due to their many potential advantages. Origami robots can be very compact, as well as cheap and efficient to produce. In particular, they can be constructed in a flat format using…

Origami inspired architectures offer a powerful route toward lightweight, reconfigurable, and programmable robotic systems. Yet, a unified mechanics framework capable of seamlessly bridging rigid folding, elastic deformation, and stability…

Adaptation to various scene configurations and object properties, stability and dexterity in robotic grasping manipulation is far from explored. This work presents an origami-based shape morphing fingertip design to actively tackle the…

Flexible robotics are capable of achieving various functionalities by shape morphing, benefiting from their compliant bodies and reconfigurable structures. Here we construct and study a class of origami springs generalized from the known…

We present an approach to overcoming challenges in dynamical dexterity for robots through tunable origami structures. Our work leverages a one-parameter family of flat sheet crease patterns that folds into origami bellows, whose axial…

Central pattern generators (CPGs), with a basis is neurophysiological studies, are a type of neural network for the generation of rhythmic motion. While CPGs are being increasingly used in robot control, most applications are hand-tuned for…