Josephine Anna Eleanor Hughes

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Autonomous robots have the potential to fundamentally transform conventional farming methods, e.g. by enabling economically viable farming of sloped arable land. However, navigation on slopes in harsh conditions is challenging for robots as they must be pr ...

Robotic fruit harvesting requires dexterity to handle delicate crops and development relying upon field testing possible only during the harvesting season. Here we focus on raspberry crops, and explore how the research methodology of harvesting robots can ...

Due to the complexity of deformations in soft manipulators, achieving precise control of their orientation is particularly challenging, especially in the presence of external disturbances and human interactions. Inspired by the decentralized growth mechani ...

Cable-Driven Parallel Robots (CDPRs) offer significant potential in applications requiring large workspaces. However, determining the locations of the cable attachment points (or called the cable exit points) remains a critical design challenge. This work ...

Flexible and adaptive tracked robots show the capacity to navigate in unstructured terrain, with a passive adaption of the track or a morphology change for terrain adaptation. Extending the concept to one in which the morphology can be actively changed has ...

Using robotics to automate complex manipulation tasks such as cooking could offer significant advantages. Robotics could offer improved throughput, provide assistance for those that lack the required mobility or allow for creative robotic chefs. Generating ...

Artificial skins are essential for bridging sensory gaps between robots and environments, enabling natural and intuitive interactions. While artificial skins can sense stimuli like pressure and stretchability, their capabilities need to be expanded into ch ...

The viscoelasticity of many soft polymers renders flexible sensors susceptible to hysteresis and signal drift that limit their accuracy. To reduce the impact of viscoelasticity on the signal without compromising the softness of the material, we introduce e ...

Animals leverage their full embodiment to achieve multimodal, redundant, and subtle communication. To achieve the same for robots, they must similarly exploit their brain-body-environment interactions or their embodied intelligence. To advance this approac ...

The use of aerial vehicles for exploration and data collection has the potential to significantly aid environmental monitoring in environments which are dangerous and hard to navigate. However, within these environments navigation can often be restricted b ...

Fluent human-robot interactions are essential for robots to be accepted and used in social scenarios including education, healthcare, or entertainment. Foundation models and Large Language Models (LLMs) in particular facilitate natural generation of text i ...

Tactile fingertips are a vital component of biological dexterity, where they convey information from the environment through our sensory systems. Similarly, sensorized robotic fingertips are needed to unlock robotic dexterity, versatility, and diverse inte ...

Glacial moulins (cylindrical meltwater drainage shafts) provide valuable insights into glacier dynamics, but are inaccessible and hazardous environments for humans to study. Exploring them using passive sensor probes has revealed their complex geometry, wh ...

Soft robots promise groundbreaking advancements across various industries. However, soft robots are susceptible to wear, fatigue, and material degradation. Their durability and long-term reliability are often overlooked, despite being critical for the succ ...

Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new exploration and m ...

Humans have an incredible sense of self-preservation that is both instilled, and also learned through experience. One system which contributes to this is the pain and reflex system which both minimizes damage through involuntary reflex ac- tions and also s ...

The expressive piano playing generally requires a delicate control over the keystroke by considering passive dynamics of the hand and piano keyboard. It becomes even more challenging when the passive properties change during the performance. In this paper, ...

When developing or designing biomimetic robotic fingers with rigid and soft components and integrated sensors, fabrication is often a bottle-neck when assembling and casting processing techniques are used. This study introduces a thermoplastic multi-materi ...

Aquatic creatures exhibit remarkable adaptations of their body to efficiently interact with the surrounding fluid. The tight coupling between their morphology, motion, and the environment are highly complex but serves as a valuable example when creating bi ...

The study of non-contact manipulation in water, and the ability to robotically control floating objects has gained recent attention due to wide-ranging potential applications, including the analysis of plastic pollution in the oceans and the optimization o ...

Josephine Anna Eleanor Hughes

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Automation in steep terrain agriculture: an optimal controller to prevent tipping and slipping of tethered robots on slopes

Lab2Field transfer of a robotic raspberry harvester enabled by a soft sensorized physical twin

Plant-inspired decentralized controller for robust orientation control of soft robotic manipulators

Determining Feasible Cable Attachment Locations for Cable-Driven-Parallel Robot

FLEXIV: Adaptive Locomotion via Morphological Changes in a Flexible Track Vehicle

Complexity and Similarity Metrics for Unsupervised Identification of Programming Methods for Robot Cooking Tasks

An optical/electronic artificial skin extends the robotic sense to molecular sensing

Mechanoreceptive soft robotic molluscoids made of granular hydrogel-based organoelectronics

Embodied intelligence paradigm for human-robot communication

Heading for the Abyss: Control Strategies for Exploiting Swinging of a Descending Tethered Aerial Robot

Improving the Fluency of Robot-Human Interaction Through Embodied Expression of Emotion via Foundation Models

Automated Benchmarking of Variable‐Property Soft Robotic Fingertips to Enable Task‐Optimized Sensor Selection

Into the ice: Exploration and data capturing in glacial moulins by a tethered robot

Toward Long-Lasting Large-Scale Soft Robots: The Durability Challenge in Architectured Materials

Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC

Bio-inspired Reflex System for Learning Visual Information for Resilient Robotic Manipulation

Data-driven Simulation Framework for Expressive Piano Playing by Anthropomorphic Hand with Variable Passive Properties

A multi-material robotic finger with integrated proprioceptive and tactile capabilities produced with a circular process

Control and Morphology Optimization of Passive Asymmetric Structures for Robotic Swimming

Non-contact robotic manipulation of floating objects: exploiting emergent limit cycles