相关论文: REWW-ARM -- Remote Wire-Driven Mobile Robot: Desig…

Wheeled-legged robots combine the energy efficiency of wheeled locomotion with the terrain adaptability of legged systems, making them promising platforms for agile mobility in complex and dynamic environments. However, enabling…

Mobile smartphones compactly provide sensors such as cameras, IMUs, GNSS measurement units, and wireless and wired communication channels required for robotics projects. They are affordable, portable, and programmable, which makes them…

In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated…

Dual-arm manipulation is an area of growing interest in the robotics community. Enabling robots to perform tasks that require the coordinated use of two arms, is essential for complex manipulation tasks such as handling large objects,…

Soft robots are gaining popularity thanks to their intrinsic safety to contacts and adaptability. However, the potentially infinite number of Degrees of Freedom makes their modeling a daunting task, and in many cases only an approximated…

Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…

Fully autonomous mobile robots have a multitude of potential applications, but guaranteeing robust navigation performance remains an open research problem. For many tasks such as repeated infrastructure inspection, item delivery, or…

Robots often interact with the world via attached parts such as wheels, joints, or appendages. In many systems, these interactions, and the manner in which they lead to locomotion, can be understood using the machinery of geometric…

Soft robots have attracted much attention in recent years owing to their high adaptability. Long articulated soft robots enable diverse operations, and tip-extending robots that navigate their environment through growth are highly effective…

The ocean vast unexplored regions and diverse soft-bodied marine organisms have spurred interest in bio-inspired underwater soft robotics. Recent advances have enabled new capabilities in underwater movement, sensing, and interaction.…

This paper presents a generalized flexible Hybrid Cable-Driven Robot (HCDR). For the proposed HCDR, the derivation of the equations of motion and proof provide a very effective way to find items for generalized system modeling. The proposed…

The efficiency of sampling-based motion planning brings wide application in autonomous mobile robots. The conventional rapidly exploring random tree (RRT) algorithm and its variants have gained significant successes, but there are still…

Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…

We introduce a system for real-time sperm whale rendezvous at sea using an autonomous uncrewed aerial vehicle. Our system employs model-based reinforcement learning that combines in situ sensor data with an empirical whale dive model to…

Cable transmission enables motors of robotic arm to operate lightweight and low-inertia joints remotely in various environments, but it also creates issues with motion coupling and cable routing that can reduce arm's control precision and…

Even though artificial muscles have gained popularity due to their compliant, flexible, and compact properties, there currently does not exist an easy way of making informed decisions on the appropriate actuation strategy when designing a…

In-hand manipulation is a crucial ability for reorienting and repositioning objects within grasps. The main challenges in this are not only the complexity of the computational models, but also the risks of grasp instability caused by active…

The successful implementation of Physical Human-Robot Interaction in industrial environments depends on ensuring safe collaboration between human operators and robotic devices. This necessitates the adoption of measures that guarantee the…

Remotely operated vehicles (ROVs) have drawn much attention to underwater tasks, such as the inspection and maintenance of infrastructure. The workload of ROV operators tends to be high, even for the skilled ones. Therefore, assistance…

Virtual borders are employed to allow humans the interactive and flexible restriction of their mobile robots' workspaces in human-centered environments, e.g. to exclude privacy zones from the workspace or to indicate certain areas for…