23 papers
A Model-Based Decoupling Strategy for Proprioception and Contact Sensing in an Architected Soft Manipulator
Francesco Stella, Annan Zhang, Cosimo Della Santina +2
Soft continuum robots require embedded sensing for proprioception and contact detection, yet integrating sensors into sparse, highly deformable architected structures remains chall…
Communicative Efficiency of Single vs. Multi-Axis Robot Neck Motion
Chapa Sirithunge, Haewon Jeong, Qinghua Guan +2
Nonverbal communication through head and neck movement is fundamental to human social signalling, yet how robotic neck morphology translates motion into communicative information r…
Modular Anthropomorphic Hand Design via Multi-Parameter Finger Benchmarking and Selection
Yu Zhang, Huijiang Wang, Josie Hughes
Designing anthropomorphic dexterous robotic hands remains challenging as the design space straddles morphology, actuation, and sensing properties, and performance metrics span both…
Polymander II: an amphibious salamander-inspired robot with contact and flow sensors
Qiyuan Fu, Sudong Lee, Andrea Grillo +4
Robots benefit from sensory information to coordinate body movement, gain robustness against perturbations, and transition between different modes to adapt to various terrains. How…
Language Conditioned Multi-Finger Dexterous Manipulation Enabled by Physical Compliance and Switching of Controllers
Cheng Pan, Kai Junge, Benhui Dai +2
Human dexterity arises from combining high-level task reasoning with finger-level dexterity control and physical compliance at the muscle and skin layers. In robotics, large Vision…
SwarmCoDe: A Scalable Co-Design Framework for Heterogeneous Robot Swarms via Dynamic Speciation
Andrew Wilhelm, Josie Hughes
Robot swarms offer inherent robustness and the capacity to execute complex, collaborative tasks surpassing the capabilities of single-agent systems. Co-designing these systems is c…