相关论文: WAVE: Worm Gear-based Adaptive Variable Elasticity…
This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400~g at take-off, the mechanism is actuated in the forward body direction, enabling precise position…
Highly articulated organisms serve as blueprints for incredibly dexterous mechanisms, but building similarly capable robotic counterparts has been hindered by the difficulties of developing electromechanical actuators with both the high…
In this paper, we present the Swarming Without an Anchor (SWA) approach to state estimation in swarms of Unmanned Aerial Vehicles (UAVs) experiencing ego-localization dropout, where individual agents are laterally stabilized using relative…
Snapping instabilities in soft structures offer a powerful pathway to achieve rapid and energy-efficient actuation. In this study, an eccentric dome-shaped snapping actuator is developed to generate controllable asymmetric motion through…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
World Action Models (WAMs) enhance Vision-Language-Action policies by jointly predicting scene evolution and robot actions, but existing methods usually represent the predicted world as holistic images, video tokens, or global latents.…
Two-dimensional van der Waals (vdW) magnetic materials hold promise for the development of high-density, energy-efficient spintronic devices for memory and computation. Recent breakthroughs in material discoveries and spin-orbit torque…
The paper focuses on the enhanced stiffness modeling of robotic manipulators by taking into account influence of the external force/torque acting upon the end point. It implements the virtual joint technique that describes the compliance of…
Vine robots extend their tubular bodies by everting material from the tip, enabling navigation in complex environments with a minimalist soft body. Despite their promise for field applications, especially in the urban search and rescue…
Compliant robotics have seen successful applications in energy efficient locomotion and cyclic manipulation. However, exploitation of variable physical impedance for energy efficient sequential movements has not been extensively addressed.…
Low-cost autonomous Micro Aerial Vehicles (MAVs) have the potential to help humans by simplifying and speeding up complex tasks that require their interaction with the environment, such as construction, package delivery, and search and…
Robotic manipulation in complex scenes demands precise perception of task-relevant details, yet fixed or suboptimal viewpoints often impair fine-grained perception and induce occlusions, constraining imitation-learned policies. We present…
The ability to adapt and conform to angular and uneven surfaces improves the suction cup's performance in grasping and manipulation. However, in most cases, the adaptation costs lack of required stiffness for manipulation after surface…
Classical rigid-bodied robotic systems are presented with proven success in theoretical development and industrial applications, are recently challenged by the emergence of soft robotics due to a growing need in physical human-robot…
Fish have endured millions of years of evolution, and their distinct rigid-flexible body structures offer inspiration for overcoming challenges in underwater robotics, such as limited mobility, high energy consumption, and adaptability.…
In this paper, we propose a novel design of a hybrid mobile robot with controllable stiffness and deformable shape. Compared to conventional mobile agents, our system can switch between rigid and compliant phases by solidifying or melting…
Unknown payloads can strongly affect compliant robotic manipulation, especially when the payload center of mass is not aligned with the tool center point. In this case, the payload generates an offset wrench at the robot wrist. During…
In this paper, we present an adjustable-equilibrium parallel elastic actuator (AE-PEA). The actuator consists of a motor, an equilibrium adjusting mechanism, and a spring arranged into a cylindrical geometry, similar to a motor-gearbox…
Described is a device acting on an acoustically levitated object by manipulating the pressure and flow of a thin layer of air such that its rotation can be precisely controlled without mechanical contact. Virtual work analysis assists in…
Optimization of rotating electrical machines is both time- and computationally expensive. Because of the different parametrization, design optimization is commonly executed separately for each machine technology. In this paper, we present…