相关论文: Reconfigurable Auxetic Devices (RADs) for Robotic …
We present a new framework for the simultaneous optimiziation of both the topology as well as the relative density grading of cellular structures and materials, also known as lattices. Due to manufacturing constraints, the optimization…
Accurate deformable object manipulation (DOM) is essential for achieving autonomy in robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM methods can be powered by simulation, which ensures realistic…
Two classes of non-linear elastic materials are derived via two-dimensional homogenization. These materials are equivalent to a periodic grid of axially-deformable and axially-preloaded structural elements, subject to incremental…
In this letter, we investigate the geometrically tailorable elasticity in the twisting behavior of biomimetic scale-covered slender soft substrate. Motivated by our qualitative experiments showing a significant torsional rigidity increase,…
In materials science, auxetic behavior refers to lateral widening upon stretching. We investigate the problem of finding domains of auxeticity in global deformation spaces of periodic frameworks. Case studies include planar periodic…
We describe opportunities and challenges with wireless robotic materials. Robotic materials are multi-functional composites that tightly integrate sensing, actuation, computation and communication to create smart composites that can sense…
Learning robust visuomotor policies for robotic manipulation remains a challenge in real-world settings, where visual distractors can significantly degrade performance and safety. In this work, we propose an effective and scalable…
In this work, we develop the gradient metasurface is constructed of a locally anisotropic resonant structure, comprising a steel cylinder with an elliptical rubber coating embedded in epoxy. The deflective angles of rubber ellipses in the…
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…
Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…
The design of physical compliance -- its location, degree, and structure -- affects robot performance and robustness in contact-rich tasks. While compliance is often used in the robot's joints, flange, or end-effector, this paper proposes…
A symmetry-extended Maxwell treatment of the net mobility of periodic bar-and-joint frameworks is used to derive a sufficient condition for auxetic behaviour of a 2D material. The type of auxetic behaviour that can be detected by symmetry…
Medical applications of robots are increasingly popular to objectivise and speed up the execution of several types of diagnostic and therapeutic interventions. Particularly important is a class of diagnostic activities that require physical…
A numerical study on the elastic response of single- and multi-layer systems formed by alternating pentamode lattices and stiffening plates is presented. Finite element simulations are conducted to analyze the dependence of the effective…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
Energy absorbing materials, like foams used in protective equipment, are able to undergo large deformations under low stresses, reducing the incoming stress wave below an injury or damage threshold. They are typically effective in absorbing…
Bilayers, soft substrates coated with stiff films, are commonly found in nature with examples including skin tissue, vesicles, and organ membranes. They exhibit different types of instabilities when subjected to compression, depending on…
Robots operating in domestic environments generally need to interact with articulated objects, such as doors, cabinets, dishwashers or fridges. In this work, we present a novel, probabilistic framework for modeling articulated objects as…
Assistive robot arms enable people with disabilities to conduct everyday tasks on their own. These arms are dexterous and high-dimensional; however, the interfaces people must use to control their robots are low-dimensional. Consider…
Controlling friction at the fingertip is fundamental to dexterous manipulation, yet remains difficult to realize in robotic hands. We present the design and analysis of a robotic fingertip equipped with passive rollers that can be…