6 accepted papers
Force estimation is the core indicator for evaluating the performance of tactile sensors, and it is also the key technical path to achieving precise force feedback mechanisms. This study proposes a design method for a visual tactile sensor (VBTS) that integrates a magnetic perception mechanism, and
Generative pre-trained models have demonstrated remarkable effectiveness in language and vision domains by learning useful representations. In this paper, we extend the scope of this effectiveness by showing that visual robot manipulation can significantly benefit from large-scale video generative p…
In this paper, we present a novel method for mobile manipulators to perform multiple contact-rich manipulation tasks. While learning-based methods have the potential to generate actions in an end-to-end manner, they often suffer from insufficient action accuracy and robustness against noise. On the…
In this paper, a compliant five-bar leg mechanism is proposed, designed and manufactured for heavy-load legged robots, by using two magneto-rheological actuators (MRAs) that are capable of offering a maximal torque of 78Nm. To address the rate-dependent hysteresis of the MRA, a hybrid rate-dependent…
Magneto-rheological clutches (MRCs) are potential for providing jointed robots with the capability of behaving compliantly. However, due to the nonlinear dynamics of rate-dependent hysteresis exhibited by the MRC, precisely controlling its behaviors is still cumbersome. This paper firstly proposes a
Magneto-rheological actuators equipped with magneto-rheological clutches (MRCs) are newly used in robots to provide intrinsic compliance and sense human contacts. However, using the favorite finite element analysis (FEA) method to analyze and design MRCs is very computationally expensive and greatly