相关论文: Leg-Arm Coordinated Operation for Curtain Wall Ins…
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…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
Ants are six-legged insects that can carry loads ten times heavier than their body weight. Since having six-legs, they are intrinsically stable. They are powerful and can carry heavy loads. For these reasons, in this paper a new parallel…
Legged robot research is presently focused on bipedal or quadrupedal robots, despite capabilities to build robots with many more legs to potentially improve locomotion performance. This imbalance is not necessarily due to hardware…
A hierarchical control architecture is presented for energy-efficient control of legged robots subject to variety of linear/nonlinear inequality constraints such as Coulomb friction cones, switching unilateral contacts, actuator saturation…
Robot art presents an opportunity to both showcase and advance state-of-the-art robotics through the challenging task of creating art. Creating large-scale artworks in particular engages the public in a way that small-scale works cannot,…
The integration of autonomous unmanned aerial vehicles (UAVs) into large-scale artistic projects has emerged as a new application in robotics. This paper presents the design, deployment, and testing of a novel multi-drone system for…
This paper explores the design strategies for hybrid pole- or trunk-climbing robots, focusing on methods to inform design decisions and assess metrics such as adaptability and performance. A wheeled-grasping hybrid robot with modular,…
We introduce a robust control architecture for the whole-body motion control of torque controlled robots with arms and legs. The method is based on the robust control of contact forces in order to track a planned Center of Mass trajectory.…
Exterior painting of high-rise buildings is a challenging task. In our country, as well as in other countries of the world, this task is accomplished manually, which is risky and life-threatening for the workers. Researchers and industry…
Recent interest in mobile manipulation has resulted in a wide range of new robot designs. A large family of these designs focuses on modular platforms that combine existing mobile bases with static manipulator arms. They combine these…
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…
Objective: The status of human-robot collaboration for assembly applications is reviewed and key current challenges for the research community and practitioners are presented. Background: As the pandemic of COVID-19 started to surface the…
Robotic legs have bimodal operations: swing phases when the leg needs to move quickly in the air (high-speed, low-force) and stance phases when the leg bears the weight of the system (low-speed, high-force). Sizing a traditional…
Automating large-scale manufacturing in domains like timber construction requires multi-robot systems to manage tightly coupled spatiotemporal constraints, such as collision avoidance and process-driven deadlines. This paper introduces…
Robotic arms are highly common in various automation processes such as manufacturing lines. However, these highly capable robots are usually degraded to simple repetitive tasks such as pick-and-place. On the other hand, designing an optimal…
Continuum robots with floating bases demonstrate exceptional operational capabilities in confined spaces, such as those encountered in medical surgeries and equipment maintenance. However, developing low-cost solutions for their motion and…
When a dual-arm robot clamps a rigid object in an environment for human beings, the environment or the collaborating human will impose incidental disturbance on the operated object or the robot arm, leading to clamping failure, damaging the…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
This paper presents a novel high-level task planning and optimal coordination framework for autonomous masonry construction, using a team of heterogeneous aerial robotic workers, consisting of agents with separate skills for brick placement…