相关论文: Strong, Accurate, and Low-Cost Robot Manipulator
The high cost of robotic platforms limits students' ability to gain practical skills directly applicable in real-world scenarios. To address this challenge, this paper presents TARA, a low-cost, 3D-printed robotic arm designed for…
Dynamic and contact-rich object manipulation, such as striking, snatching, or hammering, remains challenging for robotic systems due to hardware limitations. Most existing robots are constrained by high-inertia design, limited compliance,…
This paper presents the DeltaZ robot, a centimeter-scale, low-cost, delta-style robot that allows for a broad range of capabilities and robust functionalities. Current technologies allow DeltaZ to be 3D-printed from soft and rigid materials…
Handling fragile objects remains a major challenge for robotic manipulation. Tactile sensing and soft robotics can improve delicate object handling, but typically involve high integration complexity or slow response times. We address these…
Soft robotic manipulators with many degrees of freedom can carry out complex tasks safely around humans. However, manufacturing of soft robotic hands with several degrees of freedom requires a complex multi-step manual process, which…
Robots must cost less and be force-controlled to enable widespread, safe deployment in unconstrained human environments. We propose Quasi-Direct Drive actuation as a capable paradigm for robotic force-controlled manipulation in human…
Parallel robots are capable of high-speed manipulation and have become essential tools in the industry. The proximal placement of their motors and the low weight of their end effectors make them ideal for generating highly dynamic motion.…
This paper presents a 3-DOF hopping robot with a human-like lower-limb joint configuration and a flat foot, capable of performing dynamic and repetitive jumping motions. To achieve both high torque output and a large hollow shaft diameter…
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…
Open-source mobile manipulators have reached $660 (XLeRobot) but every sub-$1,000 platform shares three limitations: a fixed-height workspace, reactive-only control, and no protection against the stall-induced burn-out that destroys cheap…
Multi-degree of freedom robots are playing very important role in different applications of automation. They are providing much more accuracy in carrying out a typical procedure as compared to the manual work done by human. In recent years…
By 2050, the global demand for assistive care is expected to reach 3.5 billion people, far outpacing the availability of human caregivers. Existing robotic solutions remain expensive and require technical expertise, limiting accessibility.…
We introduce CoinFT, a capacitive 6-axis force/torque (F/T) sensor that is compact, light, low-cost, and robust with an average root-mean-squared error of 0.16N for force and 1.08mNm for moment when the input ranges from 0~14N and 0~5N in…
The design and fabrication of soft robot hands is still a time-consuming and difficult process. Advances in rapid prototyping have accelerated the fabrication process significantly while introducing new complexities into the design process.…
This paper presents a novel design for a compact, lightweight 6-axis force/torque sensor intended for use in legged robots. The design promotes easy manufacturing and cost reduction, while introducing innovative calibration methods that…
Contact feedback is essential for contact-rich robotic manipulation, as it allows the robot to detect subtle interaction changes and adjust its actions accordingly. Six-axis force-torque sensors are commonly used to obtain contact feedback,…
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…
To increase the awareness and impact, soft robotics needs to go beyond the lab environment and should be readily accessible to those even with no robotic expertise. However, most prevailing manufacturing methodologies require either…
This paper presents Delta6, a low-cost, six-degree-of-freedom (6-DOF) force/torque end-effector that combines antagonistic springs with magnetic encoders to deliver accurate wrench sensing while remaining as simple to assemble as flat-pack…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…