相关论文: An Open Toolkit for Underwater Field Robotics
Efficient and intuitive Human-Robot interfaces are crucial for expanding the user base of operators and enabling new applications in critical areas such as precision agriculture, automated construction, rehabilitation, and environmental…
Over a couple of decades, space junk has increased rapidly, which has caused significant threats to the LEO operation satellites. An Active Debris Removal $(ADR)$ concept continuously evolves for space junk removal. One of the ADR methods…
Mimicking the graceful motion of swimming animals remains a core challenge in soft robotics due to the complexity of fluid-structure interaction and the difficulty of controlling soft, biomimetic bodies. Existing modeling approaches are…
Accessibility is one of the most important features in the design of robots and their interfaces. This thesis proposes methods that improve the accessibility of robots for three different target audiences: consumers, researchers, and…
Exoskeletons open up a unique interaction space that seamlessly integrates users' body movements with robotic actuation. Despite its potential, human-exoskeleton interaction remains an underexplored area in HCI, largely due to the lack of…
Open Arms is a novel open-source platform of realistic human-like robotic hands and arms hardware with 28 Degree-of-Freedom (DoF), designed to extend the capabilities and accessibility of humanoid robotic grasping and manipulation. The Open…
Traditional rigid underwater vehicles pose risks to delicate marine ecosystems due to high-speed propellers and rigid hulls. This paper presents BactoBot, a low-cost, soft underwater robot designed for safe and gentle marine exploration.…
We present the UK Robotics and Artificial Intelligence Hub for Offshore Robotics for Certification of Assets (ORCA Hub), a 3.5 year EPSRC funded, multi-site project. The ORCA Hub vision is to use teams of robots and autonomous intelligent…
Bio-inspired soft robots have already shown the ability to handle uncertainty and adapt to unstructured environments. However, their availability is partially restricted by time-consuming, costly and highly supervised design-fabrication…
Autonomous underwater vehicles (AUVs) are valuable for ocean exploration due to their flexibility and ability to carry communication and detection units. Nevertheless, AUVs alone often face challenges in harsh and extreme sea conditions.…
Ocean hazardous spills and search and rescue incidents are more prevalent as maritime activities increase across all sectors of society. However, emergency response time remains a factor due to a lack of information to accurately forecast…
Real-world underwater testing for multi-agent autonomy presents substantial financial and engineering challenges. In this work, we introduce the Configurable Underwater Group of Autonomous Robots (CoUGARs) as a low-cost, configurable…
How to endow aerial robots with the ability to operate in close proximity remains an open problem. The core challenges lie in the propulsion system's dual-task requirement: generating manipulation forces while simultaneously counteracting…
Achieving robust cognitive autonomy in robots navigating complex, unpredictable environments remains a fundamental challenge in robotics. This paper presents Underwater Robot Self-Organizing Autonomy (UROSA), a groundbreaking architecture…
Autonomous navigation in maritime domains is accelerating alongside advances in artificial intelligence, sensing, and connectivity. Opaque decision-making and poorly calibrated human-automation interaction remain key barriers to safe…
Soft underwater robots typically explore bioinspired designs at the expense of power efficiency when compared to traditional underwater robots, which limits their practical use in real-world applications. We leverage a fluidic closed-loop…
Past research has widely explored the design and fabrication of resistive matrix-based tactile sensors as a means of creating touch-sensitive devices. However, developing portable, adaptive, and long-lasting tactile sensing systems that…
This paper outlines a roadmap to effectively leverage shared mental models in multi-robot, multi-stakeholder scenarios, drawing on experiences from the BugWright2 project. The discussion centers on an autonomous multi-robot systems designed…
Swimming microrobots are increasingly developed with complex materials and dynamic shapes and are expected to operate in complex environments in which the system dynamics are difficult to model and positional control of the microrobot is…
A key component of any robot is the interface between robotics middleware software and physical motors. New robots often use arbitrary, messy mixtures of closed and open motor drivers and error-prone physical mountings, wiring, and…