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A hyperelastic torque-reversal mechanism for soft joints with compression-responsive transient bistability.
Sci Robot
January 2025
Biorobotics Laboratory, Soft Robotics Research Center, Institute of Advanced Machines and Design, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul, Republic of Korea.
Snap-through, a rapid transition of a system from an equilibrium state to a nonadjacent equilibrium state, is a valuable design element of soft devices for converting a monolithic stimulus into systematic responses with impulsive motions. A common way to benefit from snap-through is to embody it within structures and materials, such as bistable structures. Torque-reversal mechanisms discovered in nature, which harness snap-through instability via muscular forces, may have comparative advantages.
View Article and Find Full Text PDFPolymer-Layered Optical Wearable (PLOW) for Healthcare Applications: Temperature and Stretching Monitoring.
ACS Appl Mater Interfaces
January 2025
Nanophotonics and Plasmonics Laboratory, School of Basic Sciences, Indian Institute of Technology Bhubaneswar, Bhubaneswar, Odisha 752050, India.
Thermal and stretching characteristics are crucial variables in healthcare, robotics, and human-machine interaction applications. Here, we present a single-mode fiber-based, balloon-shaped, single- and dual polymer-layered optical wearable (PLOW) system that can sense both temperature and stretching. These two types of PLOWs are compared in terms of their detection performance across all criteria.
View Article and Find Full Text PDFSquat Motion of a Humanoid Robot Using Three-Particle Model Predictive Control and Whole-Body Control.
Sensors (Basel)
January 2025
Department of Automation, Tsinghua University, Beijing 100084, China.
Squatting is a fundamental and crucial movement, often employed as a basic test during robot commissioning, and it plays a significant role in some service industries and in cases when robots perform high-dynamic movements like jumping. Therefore, achieving continuous and precise squatting actions is of great importance for the future development of humanoid robots. In this paper, we apply three-particle model predictive control (TP-MPC) combined with weight-based whole-body control (WBC) to a humanoid robot.
View Article and Find Full Text PDFHumanoid robot learning of complex behaviors with LLMs.
Sci Robot
January 2025
Science Robotics, AAAS, Washington, DC 20005, USA.
Learning complex behaviors by humanoid robots could be achieved with natural interactions aided by large language models.
View Article and Find Full Text PDFMagnetic Bistable Dome Actuators for Soft Robotics with High Volume Capacity and Motion Stability.
ACS Appl Mater Interfaces
January 2025
Institute of Humanoid Robots, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, P.R. China.
Magneto-responsive soft actuators hold significant promise in soft robotics due to their rapid responsiveness and untethered operation. However, controlling their deformations presents challenges because of their inherent flexibility and high degrees of freedom. Here, we present a magnetically driven bistable dome-shaped soft actuator that simplifies deformation by limiting it to two distinct states.
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