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Creators/Authors contains: "Shu, Roberto"

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  1. ; ; ; (, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024))
    Accepted Manuscript Full Text Available
  2. (, PhD thesis)
    Accepted Manuscript Full Text Available
  3. ; ; ; ; (, International Conference on Soft Robotics (RoboSoft))
    The design and fabrication of soft robot hands is still a time-consuming and difficult process. Advances in rapid prototyping have significantly accelerated the fabrication process while introducing new complexities into the design process. In this work, we present an approach that utilizes novel low-cost fabrication techniques in conjunction with design tools to help soft hand designers systematically take advantage of multi-material 3D printing to create dexterous soft robotic hands. While very low-cost and lightweight, we show that generated designs are highly durable, surprisingly strong, and capable of dexterous grasping. 
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    Full Text Available 
  4. ; (, International Conference on Humanoid Robots (Humanoids))
    This paper presents a new 14-DoF dual manipulation system for the CMU ballbot. The result is a new type of robot that combines smooth omnidirectional motion with the capability to interact with objects and the environment through manipulation. The system includes a pair of 7-DoF arms. Each arm weighs 12.9 kg, with a reach of 0.815 m, and a maximum payload of 10 kg at full extension. The ballbot's arms have a larger payload-to-weight ratio than commercial cobot arms with similar or greater payload. Design features include highly integrated sensor-actuator-control units in each joint, lightweight exoskeleton structure, and anthropomorphic kinematics. The integration of the arms with the CMU ballbot is demonstrated through heavy payload carrying and balancing experiments. 
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    Full Text Available