Bio-inspired standing balance controller for a full-mobilization exoskeleton

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Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...

Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...

The deployment of robots for Gas Source Lo- calization (GSL) tasks in hazardous scenarios significantly reduces the risk to humans and animals. Gas sensing using mobile robots focuses primarily on simplified scenarios, due to the complexity of gas dispersi ...

Sensing forms an integral part of soft matter based robots due to their compliance, dependence on loading conditions, and virtually infinite degrees of freedom. Previous studies have developed several extrinsic sensors and embedded them into soft actuators ...

Soft robots aim to revolutionize how robotic systems interact with the environment thanks to their inherent compliance. Some of these systems are even able to modulate their physical softness. However, simply equipping a robot with softness will not genera ...

The digitization of timber construction, the emergence of engineered wood products, and the urgent need to drastically reduce buildings' environmental impact have given a rebirth to wood as a construction material. On the one hand, increasing the use of ti ...

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 fabrication and control of robot hands with biologically inspired structure remains challenging due to its cost and complexity. In this paper we explore how widely available FDM printers can be used to fabricate complex hand structures by leveraging co ...

Humans have a great capacity to perform complex manipulations. However, there are many tasks for which two hands are not enough, such as in surgery. For such tasks, a dyad of people is required. However, when not used to work together, a dyad collaboration ...

Stories from the future of intelligent machines—from rescue drones to robot spouses—and accounts of cutting-edge research that could make it all possible. Tech prognosticators promised us robots—autonomous humanoids that could carry out any number of tasks ...

Soft robots are envisioned as the next generation of safe biomedical devices in minimally invasive procedures. Yet, the difficulty of processing soft materials currently limits the size, aspect-ratio, manufacturing throughput, as well as, the design comple ...

Physical simulation is an indispensable component of robotics simulation platforms that serves as the basis for a plethora of research directions. Looking strictly at robotics, the common characteristic of the most popular physics engines, such as ODE, DAR ...

The automatic design of well-performing robotic controllers is still an unsolved problem due to the inherently large parameter space and noisy, often hard-to-define performance metrics, especially when sequential tasks need to be accomplished. Distal contr ...

Robots are employed to assist humans in lengthy, challenging, and repetitive tasks. However, the fields of rehabilitation, haptics, and assistive robotics have shown a significant need to support and interact with people in their everyday life. To facilita ...

There are many challenges in the development of pneumatically powered soft robots due to the non-linearities of the materials used, non-linear pneumatic flow, complex non-standard designs, and high compliance that leads to loading-specific mechanical behav ...

Grasping and manipulation are challenging tasks that are nonetheless critical for many robotic systems and applications. A century ago, robots were conceived as humanoid automata. While conceptual at the time, this viewpoint remains influential today. Many ...

Shape Memory Alloy (SMA) based actuators have become ideal candidates for use in compact and lightweight applications. These smart materials have often been referred to as artificial muscles due to their high work volume density. In this paper, a flexure-b ...

As the field of robotics continues to grow outside the manufacturing environment into our daily lives, the interactions between humans and robots are increasingly becoming close and dynamic. This type of environment requires robots to be less rigid, multi- ...

The slogan “robots will pervade our environment” has become a reality. Drones and ground robots are used for commercial purposes while semi-autonomous driving systems are standard accessories to traditional cars. However, while our eyes have been riveted o ...

We envision a humanoid robot to serve as a source of additional motion-support forces in assistance for frail persons. In this context, we present a control strategy for a humanoid to adaptively regulate its assistive force contribution. First, we identify ...

Bio-inspired standing balance controller for a full-mobilization exoskeleton

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Online Multicontact Receding Horizon Planning via Value Function Approximation

Self-Correcting Quadratic Programming-Based Robot Control

Towards Efficient Gas Leak Detection in Built Environments: Data-Driven Plume Modeling for Gas Sensing Robots

Sensorless force and displacement estimation in soft actuators

Prescribing Cartesian Stiffness of Soft Robots by Co-Optimization of Shape and Segment-Level Stiffness

Robotic Assembly of Integrally-Attached Timber Plate Structures: From Computational Design to Automated Construction

Control and Morphology Optimization of Passive Asymmetric Structures for Robotic Swimming

Scalable Fabrication and Actuation of a Human Inspired Hand Through 3D Printed Flexures and Combinatorial Actuation

Foot-Interfaces Control and Human-Robot Interaction in Four-Handed Manipulation

Tales from a Robotic World. How Intelligent Machines Will Shape Our Future

Highly Integrated Multi-Material Fibers for Soft Robotics

Gazebo Fluids: SPH-based simulation of fluid interaction with articulated rigid body dynamics

A Noise-Resistant Mixed-Discrete Particle Swarm Optimization Algorithm for the Automatic Design of Robotic Controllers

Active origami platforms for human-robot interactions

Design and dynamic analysis of soft pneumatic systems for wearable robots

Beyond Soft Hands: Efficient Grasping With Non-Anthropomorphic Soft Grippers

An untethered mechanically-intelligent inchworm robot powered by a shape memory alloy oscillator

Comprehensive Interactive Soft Interfaces for Wearable Tactile Feedback

Safety Concerns Emerging from Robots Navigating in Crowded Pedestrian Areas

Adaptive Task-Space Force Control for Humanoid-to-Human Assistance