4 accepted papers
There are many ways for a gripper to estimate the forces between its fingers. If powered by direct-drive brushless motors, then one technique is to measure their current. This is not the most accurate technique, but it is simple, keeps the sensor remote, and requires no new components. The estimatio
Manipulation with legs on multi-pedal robots is not a new concept, but it has rarely been considered on wheel-legged robots due to their mechanical structure. This paper presents a mechanism that transitions between a wheel and a gripper, allowing wheel-legged robots to perform manipulation tasks wi
Articulation between body segments of small insects and animals is a three degree-of-freedom (DOF) motion. Implementing this kind of motion in a compact robot is usually not tractable due to limitations in small actuator technologies. In this work, we concede full 3-DOF control and instead select a
Automatic folding has drawn increasing attention in robotics research in the past ten years. The focus has been on folding two-dimensional (2D) sheets into three-dimensional (3D) structures, but little work has been done on how structures may be formed by folding ribbons. Here we propose the concept