4 accepted papers
Bimanual robot manipulators can achieve impressive dexterity, but typically rely on two full six- or seven-degree-of-freedom arms so that paired grippers can coordinate effectively. This traditional framework increases system complexity and footprint while only exploiting a fraction of the overall w…
In this paper, we introduce a sensor designed for robotic fingers which can provide information on the displacements induced by external forces. Our sensor uses LEDs to sense the displacement between two plates connected by a transparent elastomer; when a force is applied to the finger, the elastome
Underactuated manipulators reduce the number of bulky motors, thereby enabling compact and mechanically robust designs. However, fewer actuators than joints means that the manipulator can only access a specific manifold within the joint space, which is particular to a given hardware configuration an…
We present simplified 2D dynamic models of the 3D, passive dynamic inspired walking gait of a physical quasi-passive walking robot. Quasi-passive walkers are robots that integrate passive walking principles and some form of actuation. Our ultimate goal is to better understand the dynamics of actuate…