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This letter presents closed-loop position control of a pneumatically actuated modular robotic platform "pneumagami" that can be stacked to enlarge work and design space for wearable applications. The module is a 3 degrees of freedom (DoF) parallel robot wi ...
Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...
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 need for a new generation of robots able to safely locomote and manipulate beside or cooperatively with humans or in un-constructed environments has recently emerged as a priority of the robotics community. ln the past two decades, this challenge has b ...
As demonstrated by the Soft Robotics Toolkit Platform, compliant robotics pose an exciting educational opportunity. Underwater robotics using soft undulating fins is an expansive research topic with applications such as exploration of underwater life or re ...
Autonomous soft robots require compact actuators generating large strokes and high forces. Electro-fluidic actuators are especially promising, they combine the advantages of electroactive polymers (low-power consumption, fast response, and electrical power ...
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 ...
This paper presents a novel planar four-bar linkage compliant mechanism (called 4-RCC) based on four flexure-based Remote Center of Compliance (RCC) pivots. With particular configurations and dimensions, the beam shortening of the RCC pivots can compensate ...
While reconfigurable robots provide a new promising approach for interactive systems, the complexity of distributed actuation/sensing systems, coupled kinematics and desired functionalities also bring new challenges and questions both in control design and ...
Dynamic modeling of folding joints is critical for predicting dynamic behavior, optimizing design parameters, and developing control strategies for origami robots and machines. Although kinematics of the folded joints exists, little research describes thei ...
