相关论文: Scalable Low-Density Distributed Manipulation Usin…

Object manipulation is a fundamental challenge in robotics, where systems must balance trade-offs among manipulation capabilities, system complexity, and throughput. Distributed manipulator systems (DMS) use the coordinated motion of…

This paper presents a new type of distributed dexterous manipulator: delta arrays. Our delta array setup consists of 64 linearly-actuated delta robots with 3D-printed compliant linkages. Through the design of the individual delta robots,…

Object manipulation in robotics faces challenges due to diverse object shapes, sizes, and fragility. Gripper-based methods offer precision and low degrees of freedom (DOF) but the gripper limits the kind of objects to grasp. On the other…

Robotic Manipulation Surfaces (RMS) manipulate objects by deforming the surface on which they rest, offering safe, parallel handling of diverse and fragile items. However, existing designs face a fundamental tradeoff: achieving fine control…

There is a growing need for robots that can change their shape, size and mechanical properties to adapt to evolving tasks and environments. However, current shape-changing systems generally utilize bespoke, system-specific mechanisms that…

Large-Scale Actuator Networks (LSAN) are a rapidly growing class of electromechanical systems. A prime application of LSANs in the industrial sector is distributed manipulation. LSAN's are typically implemented using: vibrating plates, air…

We present ArrayBot, a distributed manipulation system consisting of a $16 \times 16$ array of vertically sliding pillars integrated with tactile sensors, which can simultaneously support, perceive, and manipulate the tabletop objects.…

Active metasurfaces enable dynamic control of light for applications in beam steering, pixelated holography, and adaptive optics, but demonstrations of two-dimensional (2D) electrically addressable arrays have so far been limited. Here we…

Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…

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…

Performing long-term experimentation or large-scale data collection for machine learning in the field of soft robotics is challenging, due to the hardware robustness and experimental flexibility required. In this work, we propose a modular…

This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…

In this paper we present a Deformable Mirror (DM) based on the continuous voltage distribution over a resistive layer. This DM can correct the low order aberrations (defocus, astigmatism, coma and spherical aberration) using three…

Motivated by the prospect of nano-robots that assist human physiological functions at the nanoscale, we investigate the coating problem in the three-dimensional model for hybrid programmable matter. In this model, a single agent with…

This paper contains a thorough investigation of the performance of electrically activated layered soft dielectric composite actuators under plane deformation. Noting that the activation can be induced controlling either the voltage or the…

There is a growing need for soft robotic platforms that perform gentle, precise handling of a wide variety of objects. Existing surface-based manipulation systems, however, lack the compliance and tactile feedback needed for delicate…

This paper presents a haptic interface with modular linear actuators which can address limitations of conventional devices based on rotatory joints. The proposed haptic interface is composed of parallel linear actuators that provide high…

A kitchen assistant needs to operate human-scale objects, such as cabinets and ovens, in unmapped environments with dynamic obstacles. Autonomous interactions in such environments require integrating dexterous manipulation and fluid…

All-optical diffractive neural networks (DNNs) offer a promising alternative to electronics-based neural network processing due to their low latency, high throughput, and inherent spatial parallelism. However, the lack of reconfigurability…

While its biological significance is well-documented, its application in soft robotics, particularly for the transport of fragile and irregularly shaped objects, remains underexplored. This study presents a modular soft robotic actuator…