相关论文: ByteWrist: A Parallel Robotic Wrist Enabling Flexi…
Continuum parallel robots (CPR) combine rigid actuation mechanisms with multiple elastic rods in a closed-loop topology, making forward statics challenging when rigid--continuum junctions are enforced by explicit kinematic constraints. Such…
Large-scale data has driven breakthroughs in robotics, from language models to vision-language-action models in bimanual manipulation. However, humanoid robotics lacks equally effective data collection frameworks. Existing humanoid…
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…
In this research was implemented the use of an Arduino UNO R3 microcontroller to control the movements of a prototype robotic functional developed to perform rehabilitation exercises in the wrist joint; This device can be used to assist the…
The integration of advanced control strategies into prosthetic hands is essential to improve their adaptability and performance. In this study, we present an implementation of a Model Predictive Control (MPC) strategy to regulate the…
This paper presents a physical interface for collaborative mobile manipulators in industrial manufacturing and logistics applications. The proposed work builds on our earlier MOCA-MAN interface, through which an operator could be physically…
Numerous wearable robots have been developed to meet the demands of physical assistance and entertainment. These wearable robots range from body-enhancing types that assist human arms and legs to body-extending types that have extra arms.…
The inherent difficulty and limited scalability of collecting manipulation data using multi-fingered robot hand hardware platforms have resulted in severe data scarcity, impeding research on data-driven dexterous manipulation policy…
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…
A key challenge to ensuring the rapid transition of robotic systems from the industrial sector to more ubiquitous applications is the development of algorithms that can guarantee safe operation while in close proximity to humans. Motion…
This paper presents two types of extended diffeomorphism designs to compensate for spatial placement differences between robot workspaces. Teleoperation of multiple robots is attracting attention to expand the utilization of the robot…
Multisection continuum arms offer complementary characteristics to those of traditional rigid-bodied robots. Inspired by biological appendages, such as elephant trunks and octopus arms, these robots trade rigidity for compliance, accuracy…
Soft robots are inherently compliant and have a strong potential to realize human-friendly and safe robots. Despite continued research highlighting the potential of soft robots, they remain largely confined to laboratory settings. In this…
Marine exploration is essential to understanding ocean processes and organisms. While the use of current unmanned underwater vehicles has enabled many discoveries, there are still plenty of limitations toward exploring complex environments.…
Teleoperation (i.e., controlling a robot with human motion) proves promising in enabling a humanoid robot to move as dynamically as a human. But how to map human motion to a humanoid robot matters because a human and a humanoid robot rarely…
The Orthoglide project aims at designing a new 3-axis machine tool for High Speed Machining. Basis kinematics is a 3 degree-of-freedom translational parallel mechanism. This basis was submitted to isotropic and manipulability constraints…
Wearable assistive robots (WR) for the lower extremity are extensively documented in literature. Various interfaces have been designed to control these devices during gait and balance activities. However, achieving seamless and intuitive…
This article presents a new variable actuation mechanism based on the 3-RPR parallel robot. This mechanismis an evolution of the NaVARo robot, a 3-RRR parallel robot, for which the second revolute joint of the threelegs is replaced by a…
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…
Flexible robotic manipulators (FRMs) offer advantages in lightweight design and large workspace, but their structural flexibility induces vibrations, accelerates fatigue, degrades tracking performance, and limits operational speed. These…