相关论文: Multi-robot Aerial Soft Manipulator For Floating L…

This paper proposes a novel robotic hand design for assembly tasks. The idea is to combine two simple grippers -- an inner gripper which is used for precise alignment, and an outer gripper which is used for stable holding. Conventional…

For robot arms to perform everyday tasks in unstructured environments, these robots must be able to manipulate a diverse range of objects. Today's robots often grasp objects with either soft grippers or rigid end-effectors. However, purely…

Flying manipulators are aerial drones with attached rigid-bodied robotic arms and belong to the latest and most actively developed research areas in robotics. The rigid nature of these arms often lack compliance, flexibility, and smoothness…

Miniature locomotion robots with the ability to navigate confined environments show great promise for a wide range of tasks, including search and rescue operations. Soft miniature locomotion robots, as a burgeoning field, have attracted…

This paper presents a planning pipeline framework for locomotion in rope-assisted robots climbing vertical surfaces. The proposed framework is formulated as a bi-level optimization scheme that addresses a mixed-integer problem: selecting…

This paper develops a planner that plans the action sequences and motion for a dual-arm robot to lift up and flip heavy plates using crane pulley blocks. The problem is motivated by the low payload of modern collaborative robots. Instead of…

Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…

The use of soft and compliant manipulators in marine environments represents a promising paradigm shift for subsea inspection, with devices better suited to tasks owing to their ability to safely conform to items during contact. However,…

Quadrotors can carry slung loads to hard-to-reach locations at high speed. Since a single quadrotor has limited payload capacities, using a team of quadrotors to collaboratively manipulate a heavy object is a scalable and promising…

Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…

Aerial-aquatic vehicles are capable to move in the two most dominant fluids, making them more promising for a wide range of applications. We propose a prototype with special designs for propulsion and thruster configuration to cope with the…

We introduce a Task-Level Iterative Learning Control method for dynamic manipulation of ropes. We demonstrate this method on a non-planar rope manipulation task called the flying knot. Using a single human demonstration and a simplified…

Multilinked aerial robot is one of the state-of-the-art works in aerial robotics, which demonstrates the deformability benefiting both maneuvering and manipulation. However, the performance in outdoor physical world has not yet been…

This paper presents the concept of a tethered variable inertial attitude control mechanism for a modular jumping-limbed robot designed for planetary exploration in low-gravity environments. The system, named SPLITTER, comprises two sub-10…

The use of cables for aerial manipulation has shown to be a lightweight and versatile way to interact with objects. However, fastening objects using cables is still a challenge and human is required. In this work, we propose a novel way to…

Marine oil spills damage ecosystems, contaminate coastlines, and disrupt food webs, while imposing substantial economic losses on fisheries and coastal communities. Prior work has demonstrated the feasibility of containing and cleaning…

Robotic fruit harvesting holds potential in precision agriculture to improve harvesting efficiency. While ground mobile robots are mostly employed in fruit harvesting, certain crops, like avocado trees, cannot be harvested efficiently from…

Bulk material handling involves the efficient and precise moving of large quantities of materials, a core operation in many industries, including cargo ship unloading, waste sorting, construction, and demolition. These repetitive,…

This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation…

Birds in nature perform perching not only for rest but also for interaction with human such as the relationship with falconers. Recently, researchers achieve perching-capable aerial robots as a way to save energy, and deformable structure…