: This paper presents a new 3-D design of a discretely-actuated robot manipulator powered by binary actuators. Binary actuators have two stable states, which are, for example, clos...
Abstract— In this paper the robotic throwing task is considered with the goal of achieving high-speed dynamic manipulation. We propose a kinetic chain approach for swing motion f...
In order to enable intuitive physical interaction with autonomous robots as well as in collaborative multi-user virtual reality and teleoperation systems a deep understanding of h...
This paper presents a method for building analytical contact models for soft fingers. Friction constraints are derived based on general expressions for non-planar contacts of ela...
Matei T. Ciocarlie, Claire Lackner, Peter K. Allen
Abstract— This work presents the control of multiple untethered rectilinear magnetic micro-robots (Mag-µBots) with dimensions 250 × 130 × 100 µm3 actuated by pulsed external ...