An under-actuated origami gripper with adjustable stiffness joints for multiple grasp modes

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Publications associées (29)

Soft Bending Actuator With Fiber-Jamming Variable Stiffness and Fiber-Optic Proprioception

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Soft actuators with a function of variable stiffness are beneficial to the improvement of the adaptability of robots, expanding the application areas and environments. We propose a tendon-driven soft bending actuator that can change its stiffness using fib ...

Ieee-Inst Electrical Electronics Engineers Inc2023

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

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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 ...

EPFL2023

A robotic honeycomb for interaction with a honeybee colony

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Robotic technologies have shown the capability to interact with living organisms and even to form integrated mixed societies composed of living and artificial agents. Biocompatible robots, incorporating sensing and actuation capable of generating and respo ...

2023

Fabrication and Characterization of the Kirigami-Inspired SMA-Powered Actuator

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This paper presents an innovative approach to creating Shape Memory Alloys (SMA)-based actuators that are lightweight, compact, and capable of providing large strokes. Inspired by the Kirigami structure, an SMA actuator is designed using the Ω -pattern, wh ...

2023

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Fluidic systems enable actuation in various applications, such as automotive, medical, and industrial robotics. Miniaturized valves constitute a fundamental controlling element of modern fluidic systems, intriguing the interest of many researchers. This le ...

2023

A geometric optimal control approach for imitation and generalization of manipulation skills

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Daily manipulation tasks are characterized by regular features associated with the task structure, which can be described by multiple geometric primitives related to actions and object shapes. Only using Cartesian coordinate systems cannot fully represent ...

Elsevier2023

Dynamic control of high-voltage actuator arrays by light-pattern projection on photoconductive switches

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The ability to control high-voltage actuator arrays relies, to date, on expensive microelectronic processes or on individual wiring of each actuator to a single off-chip high-voltage switch. Here we present an alternative approach that uses on-chip photoco ...

SPRINGERNATURE2023

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

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Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded in order to handl ...

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Distributionally Robust Linear Quadratic Control

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Linear-Quadratic-Gaussian (LQG) control is a fundamental control paradigm that is studied in various fields such as engineering, computer science, economics, and neuroscience. It involves controlling a system with linear dynamics and imperfect observations ...

2023

Electrode Impact on the Electrical Breakdown of Dielectric Elastomer Thin Films

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Dielectric Elastomer Actuators (DEAs) enable the realization of energy-efficient and compact actuator systems. DEAs operate at the kilovolt range with typically microampere-level currents and hence minimize thermal losses in comparison to low voltage/high ...

MDPI2023

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