相关论文: CONCERT: a Modular Reconfigurable Robot for Constr…
Construction robots are challenging the traditional paradigm of labor intensive and repetitive construction tasks. Present concerns regarding construction robots are focused on their abilities in performing complex tasks consisting of…
Manufacturing assembly tasks can vary in complexity and level of automation. Yet, achieving full automation can be challenging and inefficient, particularly due to the complexity of certain assembly operations. Human-robot collaborative…
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…
In-situ aeroengine maintenance works are highly beneficial as it can significantly reduce the current maintenance cycle which is extensive and costly due to the disassembly requirement of engines from aircrafts. However, navigating in/out…
In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…
A long-standing goal of the Human-Robot Collaboration (HRC) in manufacturing systems is to increase the collaborative working efficiency. In line with the trend of Industry 4.0 to build up the smart manufacturing system, the Co-robot in the…
Robotics and automation have the potential to significantly improve quality of life for people with assistive needs and their carers. Adoption of such technologies at this point in time is far from widespread. This paper presents a novel…
Soft continuum robots achieve complex deformation through elastic equilibrium, making their reachable motions governed jointly by structural design and actuation-induced mechanics. This work develops a general formulation that integrates…
As robots enter everyday spaces like offices, the sounds they create affect how they are perceived. We present Music Mode, a novel mapping between a robot's joint motions and sounds, programmed by artists and engineers to make the robot…
In this work, we introduce an adaptive control framework for human-robot collaborative transportation of objects with unknown deformation behaviour. The proposed framework takes as input the haptic information transmitted through the…
Robots are used increasingly often in safety-critical scenarios, such as robotic surgery or human-robot interaction. To ensure stringent performance criteria, formal controller synthesis is a promising direction to guarantee that robots…
Since wearable linkage mechanisms could control the moment transmission from actuator(s) to wearers, they can help ensure that even low-cost wearable systems provide advanced functionality tailored to users' needs. For example, if a hip…
In this paper, we address the development of a robotic rehabilitation system for the upper limbs based on collaborative end-effector solutions. The use of commercial collaborative robots offers significant advantages for this task, as they…
Performing long-term experimentation or large-scale data collection for machine learning in the field of soft robotics is challenging, due to the hardware robustness and experimental flexibility required. In this work, we propose a modular…
Planning of any motion starts by planning the trajectory of the CoM. It is of the highest importance to ensure that the robot will be able to perform planned trajectory. With increasing capabilities of the humanoid robots, the case when…
Robots come in various forms and have different characteristics that may shape the interaction with them. In human-human interactions, height is a characteristic that shapes human dynamics, with taller people typically perceived as more…
Healthcare poses diverse logistic requirements, which resulted in the deployment of several distinctly designed robots within a hospital setting. Each robot comes with its overheads in the form of, namely, none/limited scaling, dedicated…
Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavoidable. While controlled contact can assist motion,…
In this paper, we deal with the problem of coordinating multiple robots to build 3-D structures. This problem consists of a set of mobile robots that interact with each other in order to autonomously build a predefined 3-D structure. Our…
Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and…