10 accepted papers
The control of passive dynamic systems remains a challenging problem in the field of robotics, and insights from their study can inform everything from dynamic behaviors on actuated robots to robotic assistive devices. In this work, we explore the use of flat actuated environments for realizing pass…
We present work on incipient slip sensing and recovery for controllable gecko-inspired adhesives. The approach is based on the relationship between changes in real contact area and maximum shear force. Using signals from an on-board tactile sensor, we detect the onset of adhesive failure and execute
We present the inverse pneumatic artificial muscle (IPAM), a new soft actuator that is powered by pneumatics in a manner inverse to traditional pneumatic muscles: low pressure, rather than high, contracts the muscle. The IPAM improves on the 50-year-old standard in soft pneumatic actuators, the McKi
We present a simple statistical model to predict the maximum pulling force available from robot teams. The expected performance is a function of interactions between each robot and the ground (e.g., whether running or walking). We confirm the model with experiments involving impulsive bristlebots, s
To minimize weight and cost, it is sometimes desirable to power multiple functions with a single actuator. In this letter, we present a new mechanism for powering two degrees of freedom with a single motor. We introduce a method, termed dynamic response switching (DRS), in which the actuator can dri
The Wolverine is a mobile, wearable haptic device designed for simulating the grasping of rigid objects in a virtual reality interface. In contrast to prior work on wearable force feedback gloves, we focus on creating a low cost and lightweight device that renders a force directly between the thumb…
Nearly all robotic grippers have one trait in common: they grasp objects with normal forces, either directly, or indirectly through friction. This method of grasping is effective for objects small enough for a given gripper to partially encompass. However, to grasp larger objects, significant grip f…
Adhesion quality sensing is critical to the performance of any robot that utilizes gecko-inspired dry adhesives for climbing, perching, or grasping. We present a 3-axis tactile sensor designed for this application that demonstrates performance on par with a large commercial load cell while being com…
The ability to carry large payloads could greatly increase the applications of small, low cost climbing robots. We present a linear inchworm gait that uses a single powerful actuator to climb. To make this gait possible, we leveraged two new methods of achieving controllable, anisotropic adhesion (o…
The controllable adhesives used by insects to both carry large loads and move quickly despite their small scale inspires the μTug robot concept. These are small robots that can both move quickly and use controllable adhesion to apply interaction forces many times their body weight. The adhesives ena…