相关论文: Design and Development of Modular Limbs for Reconf…

The allure of lunar surface exploration and development has recently captured widespread global attention. Robots have proved to be indispensable for exploring uncharted terrains, uncovering and leveraging local resources, and facilitating…

Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…

Moving a module in a modular robot is a very complex and error-prone process. Unlike in swarm, in the modular robots we are targeting, the moving module must keep the connection to, at least, one other module. In order to miniaturize each…

This paper presents the software architecture and deployment strategy behind the MoonBot platform: a modular space robotic system composed of heterogeneous components distributed across multiple computers, networks and ultimately celestial…

Modular small-scale robots offer the potential for on-demand assembly and disassembly, enabling task-specific adaptation in dynamic and constrained environments. However, existing modular magnetic platforms often depend on workspace…

This chapter is about the fundamentals of fabrication, control, and human-robot interaction of a new type of collaborative robotic manipulators, called malleable robots, which are based on adjustable architectures of varying stiffness for…

Robotics plays a pivotal role in planetary science and exploration, where autonomous and reliable systems are crucial due to the risks and challenges inherent to space environments. The establishment of permanent lunar bases demands robotic…

The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…

For the majority of tasks performed by traditional serial robot arms, such as bin picking or pick and place, only two or three degrees of freedom (DOF) are required for motion; however, by augmenting the number of degrees of freedom,…

Configurable robots are made up of robotic modules that can be assembled or can configure themselves into multiple robot configurations. In this research plan, a method for upper-body rehabilitation will be discussed in the form of a…

This paper presents a 3-DOF hopping robot with a human-like lower-limb joint configuration and a flat foot, capable of performing dynamic and repetitive jumping motions. To achieve both high torque output and a large hollow shaft diameter…

Customization of manipulator configurations using modularity and reconfigurability aspects is receiving much attention. Modules presented so far in literature deals with the conventional and standard configurations. This paper presents the…

Modular robots offer reconfigurability and fault tolerance essential for lunar missions, but require controllers that adapt safely to real-world disturbances. We build on our previous hardware-agnostic actuator synchronization in Motion…

While it is expected to build robotic limbs with multiple degrees of freedom (DoF) inspired by nature, a single DoF design remains fundamental, providing benefits that include, but are not limited to, simplicity, robustness,…

We are considering the geometric amoebot model where a set of $n$ amoebots is placed on the triangular grid. An amoebot is able to send information to its neighbors, and to move via expansions and contractions. Since amoebots and…

Wearable devices like exoskeletons are designed to reduce excessive loads on specific joints of the body. Specifically, single- or two-degrees-of-freedom (DOF) upper-body industrial exoskeletons typically focus on compensating for the…

Multi-robot systems, particularly mobile manipulators, face challenges in control coordination and dynamic stability when working together. To address this issue, this study proposes MobiDock, a modular self-reconfigurable mobile…

The logistics of transporting a package from a storage facility to the consumer's front door usually employs highly specialized robots often times splitting sub-tasks up to different systems, e.g., manipulator arms to sort and wheeled…

This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…

Although parallel manipulators (PMs) started with the introduction of architectures with 6 Degrees of Freedom (DoF), a vast number of applications require less than 6 DoF. Consequently, scholars have proposed architectures with 3 DoF and 4…