6 accepted papers
Robotic hand tool use has garnered significant attention from robotics researchers, because it enhances dexterity beyond the limitations imposed by manipulators with fixed tool configurations and human-involved manual tool changes. Despite extensive research, current methodologies predominantly focu
Anthropomorphic robotic arms, mimicking the structure and function of human arms, show great potential for helping people in various tedious and repetitive household tasks. However, such arms mostly consist of multiple serial links controlled independently by actuators at joints with high reduction…
Tactile servoing is an effective approach to enabling robots to safely interact with unknown environments. One of the core problems in tactile servoing is to robustly converge the contact features to the desired ones via a dedicated controller. This paper proposes a Data-Driven Model Predictive Cont…
Objects of daily life are designed to suit the human hand. Without major modifications to these objects and our environments, robots will need end-effectors with human hand-like configuration and dexterity to efficiently operate on them. Tight integration of tactile and proprioceptive sensors are al…
Cable-driven segmented manipulators (CDSMs) featured by superior dexterity, light and slender body are excellent candidates for operations in confined environments. However, the stiffness and load capacity of such manipulators have been a challenge due to their structural elasticity. In this paper,…
With a light and slender body, a cable-driven redundant spatial manipulator (CRSM) has flexible manipulability and high maneuverability in confined environment. However, compared with revolute rigid manipulators, such type of manipulators generally has low stiffness and weak load capacity. In this p…