5 papers · 1 filter
A High-Payload Wall-Climbing Robot Using Passive Bistable Suction Cups
Andrew Nguyen, Mingyuan Li, Daniel Bruder
Wall-climbing robots capable of scaling vertical surfaces could help automate hazardous or labor intensive tasks such as window washing, inspection, maintenance, and construction.…
Real-Time Compliance and Position Control of a Hyper-redundant Soft Robotic Arm
Runze Zuo, Tianhua Zou, Naike Wu +2
Robots working in unstructured or partially unobservable environments must combine accurate motion with physical compliance that can passively correct contact misalignment. Soft ro…
An Enhanced Proprioceptive Method for Soft Robots Integrating Bend Sensors and IMUs
Dong Heon Han, Mayank Mehta, Runze Zuo +2
This study presents an enhanced proprioceptive method for accurate shape estimation of soft robots using only off-the-shelf sensors, ensuring cost-effectiveness and easy applicabil…
Whole-Body Proprioceptive Morphing: A Modular Soft Gripper for Robust Cross-Scale Grasping
Dong Heon Han, Xiaohao Xu, Yuxi Chen +5
Biological systems, such as the octopus, exhibit masterful cross-scale manipulation by adaptively reconfiguring their entire form, a capability that remains elusive in robotics. Co…
UMArm: Untethered, Modular, Portable, Soft Pneumatic Arm
Runze Zuo, Dong Heon Han, Richard Li +2
Robotic arms are essential to modern industries, however, their adaptability to unstructured environments remains limited. Soft robotic arms, particularly those actuated pneumatica…