Abstract: Two degreeoffreedom (2DOF) closed spatial linkages can be useful in the design of robotic devices for spatial rigidbody guidance or manipulation. One of the simplest linkages of this type, without any passive DOF on its ...

Abstract: In the context of robot manipulation, Salisbury's taxonomy is the common standard used to define the types of contact interactions that can occur between the robot and a contacted object; the basic concept behind such ...

Abstract: This work studies in detail how the judicial application of compliance in parallel manipulators can produce manipulators that require significantly lower actuator effort within a range of desired operating conditions. We ...

Abstract: This paper investigates the inhand manipulation capabilities of a compliant, underactuated planar robotic hand by treating the system as a simple, symmetric, 6bar linkage mechanism with compliant joints. Although underactuated ...

Abstract: This paper investigates how the passive adaptability of an underactuated robot leg to uneven terrain is affected by variations in design parameters. In particular, the joint torque coupling ratio, segment length ratio, and ...

Abstract: Here, we present the design, fabrication, and evaluation of a prismatic-revolute-revolute joint hand called the model B that we developed for grasping from ungrounded vehicles. This hand relies on a prismatic proximal joint ...

Abstract: Modular active cell robots (MACROs) are a design paradigm for modular robotic hardware that uses only two components, namely actuators and passive compliant joints. Under the MACRO approach, a large number of actuators and ...

Abstract: Modular active cell robots (MACROs) is a design approach in which a large number of linear actuators and passive compliant joints are assembled to create an active structure with a repeating unit cell. Such a mesh-like ...

Abstract: Minimalist, underactuated hand designs can be modified to produce useful, dexterous, in-hand capabilities without sacrificing their passive adaptability in power grasping. Incorporating insight from studies in parallel ...

Abstract: A wide range of engineering applications, ranging from civil to space structures, could benefit from the ability to construct material-efficient lattices that are easily reconfigurable. The challenge preventing modular ...