6 accepted papers
This paper presents a novel hydraulic-driven two- finger robotic gripper designed to handle objects of various shapes and sizes. To meet the demands of field robotics and heavy industrial environments, a self-adaptive finger mechanism was integrated with hydraulic actuation. However, this integratio…
Designing reward functions for reinforcement learning (RL)-based quadruped locomotion often requires extensive trial-and-error, limiting efficiency and interpretability. Lack of interpretability is particularly critical for large-scale hydraulic quadrupeds, where undetected unstable behaviors during
This paper presents a novel hydraulic-driven twofinger robotic gripper designed to handle objects of various shapes and sizes. To meet the demands of field robotics and heavy industrial environments, a self-adaptive finger mechanism was integrated with hydraulic actuation. However, this integration
This letter introduces a “rigidable exosuit” inspired by bow mechanics, which can dynamically alter its frame rigidity based on the tension of the attached string. The exosuit affords posture assistance (rigid phase) or unrestricted movement (flexible phase) as required by tasks. In the flexible pha
This letter presents a gripper module for a snake-like robot to perform search and rescue tasks in a narrow space. The proposed gripper module has three features: (1) It can accommodate the fingers inside its body. (2) It has three fingers that can grip objects with irregular surfaces stably. (3) On
This paper introduces a new hydraulic manipulator with hydraulic-cable driven actuation (HCA) modules for disaster response mobile-manipulation. The hydraulic actuation system has the potential to apply disaster-response application, because it has a higher power-to-weight ratio and robustness to ex…