相关论文: Robotic Manipulation of a Rotating Chain with Bott…

The 'infinite' passive degrees of freedom of soft robotic arms render their control especially challenging. In this paper, we leverage a previously developed model, which drawing equivalence of the soft arm to a series of universal joints,…

This paper presents the design concept, modeling and motion planning solution for the aerial robotic chain. This design represents a configurable robotic system of systems, consisting of multi-linked micro aerial vehicles that…

We present in-hand manipulation tasks where a robot moves an object in grasp, maintains its external contact mode with the environment, and adjusts its in-hand pose simultaneously. The proposed manipulation task leads to complex contact…

Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…

The growing need to automate processes in industrial settings has led to tremendous growth in the robotic systems and especially the robotic arms. The paper assumes the design, modeling and control of a robotic arm to suit industrial…

This article presents a new hand architecture with three under-actuated fingers. Each finger performs spatial movements to achieve more complex and varied grasping than the existing planar-movement fingers. The purpose of this hand is to…

We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper. Reorienting problem is challenging because of its non-smoothness and high dimensionality. In this work, we focus…

In order for a bimanual robot to manipulate an object that is held by both hands, it must construct motion plans such that the transformation between its end effectors remains fixed. This amounts to complicated nonlinear equality…

In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…

The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…

Robotic manipulation of deformable objects gains great attention due to its wide applications including medical surgery, home assistance, and automatic food preparation. The ability to deform soft objects remains a great challenge for…

Continuum robotic grasping, inspired by biological appendages such as octopus arms and elephant trunks, provides a versatile and adaptive approach to object manipulation. Unlike conventional rigid-body grasping, continuum robots leverage…

Robotic dual-arm twisting is a common but very challenging task in both industrial production and daily services, as it often requires dexterous collaboration, a large scale of end-effector rotating, and good adaptivity for object…

A complete mechatronic design of a minimal configuration brachiation robot is presented. The robot consists of a single rigid rod with gripper mechanisms attached to both ends. The grippers are used to hang the robot on a horizontal bar on…

In this paper, we propose a general unified tracking-servoing approach for controlling the shape of elastic deformable objects using robotic arms. Our approach works by forming a lattice around the object, binding the object to the lattice,…

This work addresses the inverse kinematics of serial robots using conformal geometric algebra. Classical approaches include either the use of homogeneous matrices, which entails high computational cost and execution time or the development…

Intelligence lies not only in the brain (decision-making processes) but in the body (physical morphology). The morphology of robots can significantly influence how they interact with the physical world, crucial for manipulating objects in…

Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…

Robot-assisted dressing is a popular but challenging topic in the field of robotic manipulation, offering significant potential to improve the quality of life for individuals with mobility limitations. Currently, the majority of research on…

Robot manipulation of rope-like objects is an interesting problem that has some critical applications, such as autonomous robotic suturing. Solving for and controlling rope is difficult due to the complexity of rope physics and the…