11 accepted papers
Humanoid dexterous hands have significant potential in prosthetics, service robotics, and high-performance manipulation. However, existing designs often struggle to balance the challenging requirements of lightweight design, high biomimicry, personalized customization, and low cost. To address these…
In the final “Last-Centimeter” phase of manipulation, visual occlusion and calibration errors often make vision unreliable, causing robots to suffer high failure rates due to local pose uncertainty and deviations between simulated and real-world dynamics. To address these challenges, this paper prop
The combination of imitation learning and reinforcement learning is expected to solve the challenge of grasping unknown objects with anthropomorphic hand-arm systems. However, this method requires a large number of perfect demonstrations and the implementation in real robots often differs greatly fr
Soft origami continuum robots show great potential compared with traditional rigid robots because of their hyper-redundant deformation. However, motion control of these robots remains challenging because of their nonlinear kinematics. This letter presents a method based on the multilayer perceptron
Soft continuum robots have shown tremendous potential for medical and industrial applications owing to their flexibility and continuous deformability. However, their telescopic and bending capabilities and variable stiffness are still limited. This study proposes a novel origami-inspired soft contin…
This letter reports a soft and scalable crawling robot that can actively adapt to flat planes and tubes without manual adjustment. The robot is mainly composed of a programmable origami body and two flexible electrostatic pads with a measured thickness of around 34 μm. The pad generates considerable
LiDAR is widely adopted in Simultaneous Localization And Mapping (SLAM) and High Definition (HD) map production. The accuracy of LiDAR Odometry (LO) is of great importance, especially in GPS-denied environments. However, we found typical LO results are prone to drift upwards along the vertical direc…
This letter presents a bioinspired composite finger with self-locking joints that can perform long-time and high-load (27.8 N) grasping tasks with low power consumption. Inspired by the ratchet wrench, the self-locking joint includes a ratchet mechanism to provide a large grip force for the finger t
Animals in nature, such as geckos, inchworms, and felines can climb on various surfaces using different mechanisms and serve as references for the study of bio-inspired robots. This paper presents an inchworm-inspired climbing robot that consists of soft body and feet. The soft robot is actuated by…
This paper presents a bionic soft robot with chromatic surface micro-structure (CSM), as a new approach for the measurement of body deformation of the soft robots. Firstly, the CSM films are fabricated by diffraction gratings mold using material polydimethylsiloxane (PDMS). Then, the CSM films are a…
Animals provide inspiration for developing soft machines in bionics, robotics research as well as potential applications. This paper presents an integrated development of locomotive soft robot platforms: starfish-inspired robots with multi-limb bodies actuated by shape memory alloys (SMAs). The desi…