Monolithic piezoelectric actuators for miniature robotic systems

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Miniaturizing soft robots is often limited by scaling down actuators while keeping high energy density and good response time. In this work we demonstrate the wafer-level microfabrication of electrostatic zipping soft actuators, similar to peano-HASELs. Th ...

Calibration between robots and cameras is critical in automated robot vision systems. However, conventional manually conducted image-based calibration techniques are often limited by their accuracy sensitivity and poor adaptability to dynamic or unstructur ...

The robotic manipulation of deformable linear objects is a frontier problem with many potential applications in diverse industries. However, most existing research in this area focuses on shape control for a provided explicit goal and does not consider phy ...

We have all been one such student or seen such students who can maintain the 'good student' image while playing a video game under the table or those loyal backbenchers, seemingly always distracted, who then ace their exams. These intricacies of human beha ...

Modular robots hold promise of adaptability, robustness, and versatility. Synchronization of modules is critical; if a module is asynchronous, not only will the robot fail to perform tasks properly, but its behavior may be self-destructive through self-col ...

As technology continues to evolve, robots are becoming an intrinsic part of our lives. While robots surpass human capabilities in precision and speed, they are far from matching humans' ability to adapt to unexpected changes. Humans can quickly and complia ...

This paper presents a strategy for providing reliable state estimates that allow a group of robots to realize a formation even when communication fails and the tracking data alone is insufficient for maintaining a stable formation. Furthermore, the trackin ...

Virtual reality (VR) and augmented reality (AR) systems have garnered recent widespread attention due to increased accessibility, functionality, and affordability. These systems sense user inputs and typically provide haptic, audio, and visual feedback to ...

Advances in astronomy led to the demand for measuring the spectra of multiple night sky objects simultaneously. Some of these Multi-Object Spectrographs use robotic systems that position optical fibers in the focal plane of the observing telescope. These s ...

Minimally invasive medical procedures, such as endovascular catheterization, have considerably reduced procedure time and associated complications. However, many regions inside the body, such as in the brain vasculature, still remain inaccessible due to th ...

In ant colonies, collectivity enables division of labour and resources with great scalability. Beyond their intricate social behaviours, individuals of the genus Odontomachus, also known as trap-jaw ants, have developed remarkable multi-locomotion mechanis ...

Robotic technologies, whether they are remotely operated vehicles, autonomous agents, assistive devices, or novel control interfaces, offer many promising capabilities for deployment in real‐world environments. Postdisaster scenarios are a particularly rel ...

Water as a medium poses a number of challenges for robots, limiting the progress of research in underwater robotics vis-a-vis ground or aerial robotics. The primary challenges are satellite based positioning and radio communication being unusable due to hi ...

Soft pneumatic actuators promise simple, adaptable, and safe manipulation, but the nature of pneumatic circuits limits the scalability of this approach. This paper introduces a method to augment the degrees-of-freedom of soft pneumatic actuators without in ...

Social robotic assistants have been widely studied and deployed as telepresence tools or caregivers. Evaluating their design and impact on the people interacting with them is of prime importance. In this research, we evaluate the usability and impact of AR ...

In this thesis our research goal is to develop, study and demonstrate multifunctional multi-robot systems in mesoscale. Particularly, our goal is to study and demonstrate terrestrial multi-locomotion and collective behaviours with mesoscale robots, similar ...

Robotic origami allows rapid prototyping of intelligent robots and machines constructed from thin sheets of functional materials. Multimaterial-based design freedom of origami robots creates functional versatility; however, the design parameters pose chall ...

Social robots are being used to create better educational scenarios, thereby fostering children's learning. In the work presented here, we describe an autonomous social robot that was designed to enhance children's handwriting skills. Exploiting the benefi ...

Model Predictive Control is becoming more and more present in robotic applications. It has been successfully used in control of humanoid robots to adjust positions of the footsteps in order to satisfy stability constraints. In this paper we show how to ada ...

Monolithic piezoelectric actuators for miniature robotic systems

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