Mark Yim
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View article: Online Multi-Robot Coordination and Cooperation with Task Precedence Relationships
Online Multi-Robot Coordination and Cooperation with Task Precedence Relationships Open
We propose a new formulation for the multi-robot task allocation problem that incorporates (a) complex precedence relationships between tasks, (b) efficient intra-task coordination, and (c) cooperation through the formation of robot coalit…
View article: Exploring environment exploitation for self-reconfiguration in modular robotics
Exploring environment exploitation for self-reconfiguration in modular robotics Open
Modular robotics research has long been preoccupied with perfecting the modules themselves -- their actuation methods, connectors, controls, communication, and fabrication. This inward focus results, in part, from the complexity of the tas…
View article: Design of nondeterministic architected structures via bioinspired distributed agents
Design of nondeterministic architected structures via bioinspired distributed agents Open
Nature manufactures structures via decentralized processes involving groups of agents. This is fundamentally different from traditional manufacturing, where objects are produced via sequences of predefined steps. In this work, we explore t…
View article: Real-time Two-tape Control System in Vine robots
Real-time Two-tape Control System in Vine robots Open
This paper focuses on how to make a growing Vine robot steer in different directions with a novel approach to real-time steering control by autonomously applying adhesive tape to induce a surface wrinkles. This enabling real-time direction…
View article: Learning In-Hand Translation Using Tactile Skin With Shear and Normal Force Sensing
Learning In-Hand Translation Using Tactile Skin With Shear and Normal Force Sensing Open
Recent progress in reinforcement learning (RL) and tactile sensing has significantly advanced dexterous manipulation. However, these methods often utilize simplified tactile signals due to the gap between tactile simulation and the real wo…
View article: A Single Motor Nano Aerial Vehicle with Novel Peer-to-Peer Communication and Sensing Mechanism
A Single Motor Nano Aerial Vehicle with Novel Peer-to-Peer Communication and Sensing Mechanism Open
Communication and position sensing are among the most important capabilities for swarm robots to interact with their peers and perform tasks collaboratively. However, the hardware required to facilitate communication and position sensing i…
View article: Continuous Sculpting: Persistent Swarm Shape Formation Adaptable to Local Environmental Changes
Continuous Sculpting: Persistent Swarm Shape Formation Adaptable to Local Environmental Changes Open
Despite their growing popularity, swarms of robots remain limited by the operating time of each individual. We present algorithms which allow a human to sculpt a swarm of robots into a shape that persists in space perpetually, independent …
View article: Assessing Tissue Damage Around a Tape Spring Steerable Needle With Sharp Turn Radii
Assessing Tissue Damage Around a Tape Spring Steerable Needle With Sharp Turn Radii Open
Steerable needles are a novel technology that offers a wide range of uses in medical diagnostics and therapeutics. Currently, there exist several steerable needle designs in the literature, however, they are limited in their use by the num…
View article: Numerical and experimental study on the addition of surface roughness to micro-propellers
Numerical and experimental study on the addition of surface roughness to micro-propellers Open
Micro aerial vehicles are making a large impact in applications such as search-and-rescue, package delivery, and recreation. Unfortunately, these diminutive drones are currently constrained to carrying small payloads, in large part because…
View article: A Tape Spring Steerable Needle Capable of Sharp Turns
A Tape Spring Steerable Needle Capable of Sharp Turns Open
Objective To make steerable needles more effective, researchers have been trying to minimize turning radius, develop mechanics-based models, and simplify control. This paper introduces a novel cable-driven steerable needle that has a 3mm t…
View article: Holonomic Control of Arbitrary Configurations of Docked Modboats
Holonomic Control of Arbitrary Configurations of Docked Modboats Open
The Modboat is a low-cost, underactuated, modular robot capable of surface swimming, docking to other modules, and undocking from them using only a single motor and two passive flippers. Undocking is achieved by causing intentional self-co…
View article: Electroadhesive Clutches for Programmable Shape Morphing of Soft Actuators
Electroadhesive Clutches for Programmable Shape Morphing of Soft Actuators Open
Soft robotic actuators are safe and adaptable devices with inherent compliance, which makes them attractive for manipulating delicate and complex objects. Researchers have integrated stiff materials into soft actuators to increase their fo…
View article: Collective Control for Arbitrary Configurations of Docked Modboats
Collective Control for Arbitrary Configurations of Docked Modboats Open
The Modboat is a low-cost, underactuated, modular robot capable of surface swimming, docking to other modules, and undocking from them using only a single motor and two passive flippers. Undocking is achieved by causing intentional self-co…
View article: Amplitude Control for Parallel Lattices of Docked Modboats
Amplitude Control for Parallel Lattices of Docked Modboats Open
The Modboat is a low-cost, underactuated, modular robot capable of surface swimming. It is able to swim individually, dock to other Modboats, and undock from them using only a single motor and two passive flippers. Undocking without additi…
View article: Multimodal Proximity and Visuotactile Sensing With a Selectively Transmissive Soft Membrane
Multimodal Proximity and Visuotactile Sensing With a Selectively Transmissive Soft Membrane Open
The most common sensing modalities found in a robot perception system are vision and touch, which together can provide global and highly localized data for manipulation. However, these sensing modalities often fail to adequately capture th…
View article: Quori: A Community-Informed Design of a Socially Interactive Humanoid Robot
Quori: A Community-Informed Design of a Socially Interactive Humanoid Robot Open
Hardware platforms for socially interactive robotics can be limited by cost or lack of functionality. This paper presents the overall system -- design, hardware, and software -- for Quori, a novel, affordable, socially interactive humanoid…
View article: Coverage Control in Multi-Robot Systems via Graph Neural Networks
Coverage Control in Multi-Robot Systems via Graph Neural Networks Open
This paper develops a decentralized approach to mobile sensor coverage by a multi-robot system. We consider a scenario where a team of robots with limited sensing range must position itself to effectively detect events of interest in a reg…
View article: Thrust Direction Control of an Underactuated Oscillating Swimming Robot
Thrust Direction Control of an Underactuated Oscillating Swimming Robot Open
The Modboat is an autonomous surface robot that turns the oscillation of a\nsingle motor into a controlled paddling motion through passive flippers.\nInertial control methods developed in prior work can successfully drive the\nModboat alon…
View article: Motion Planning for Variable Topology Trusses: Reconfiguration and Locomotion
Motion Planning for Variable Topology Trusses: Reconfiguration and Locomotion Open
Truss robots are highly redundant parallel robotic systems that can be applied in a variety of scenarios. The variable topology truss (VTT) is a class of modular truss robots. As self-reconfigurable modular robots, a VTT is composed of man…
View article: Docking and Undocking a Modular Underactuated Oscillating Swimming Robot
Docking and Undocking a Modular Underactuated Oscillating Swimming Robot Open
We describe a docking mechanism and strategy to allow modular self-assembly for the Modboat: an inexpensive underactuated oscillating swimming robot powered by a single motor. Because propulsion is achieved through oscillation, orientation…
View article: A Quadratic Programming Approach to Manipulation in Real-Time Using ModularRobots
A Quadratic Programming Approach to Manipulation in Real-Time Using ModularRobots Open
Motion planning in high-dimensional space is a challenging task. In order to perform dexterous manipulation in an unstructured environment, a robot with many degrees of freedom is usually necessary, which also complicates its motion planni…
View article: SMORES-EP, a Modular Robot with Parallel Self-assembly
SMORES-EP, a Modular Robot with Parallel Self-assembly Open
Self-assembly of modular robotic systems enables the construction of complex robotic configurations to adapt to different tasks. This paper presents a framework for SMORES types of modular robots to efficiently self-assemble into tree topo…
View article: A Low-Cost, Highly Customizable Solution for Position Estimation in Modular Robots
A Low-Cost, Highly Customizable Solution for Position Estimation in Modular Robots Open
Accurate position sensing is important for state estimation and control in robotics. Reliable and accurate position sensors are usually expensive and difficult to customize. Incorporating them into systems that have very tight volume const…
View article: Computational Robot Design and Customization
Computational Robot Design and Customization Open
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View article: Engaging End Users in Designing Systems and Hardware for a Socially Assistive Robot
Engaging End Users in Designing Systems and Hardware for a Socially Assistive Robot Open
Development of low-cost robots to assist older adults requires the input of end users: older adults, paid caregivers and clinicians. This study builds on prior work focused on the task investigation and deployment of mobile robots in a Pro…
View article: Optimal Structure Synthesis for Environment Augmenting Robots
Optimal Structure Synthesis for Environment Augmenting Robots Open
Building structures can allow a robot to surmount large obstacles, expanding the set of areas it can reach. This paper presents a planning algorithm to automatically determine what structures a construction-capable robot must build in orde…
View article: Modular Reconfigurable Robotics
Modular Reconfigurable Robotics Open
This article reviews the current state of the art in the development of modular reconfigurable robot (MRR) systems and suggests promising future research directions. A wide variety of MRR systems have been presented to date, and these robo…
View article: An integrated system for perception-driven autonomy with modular robots
An integrated system for perception-driven autonomy with modular robots Open
A robot autonomously completes tasks by transforming its body to match its capabilities to newly encountered environments.
View article: Perception-Informed Autonomous Environment Augmentation with Modular Robots
Perception-Informed Autonomous Environment Augmentation with Modular Robots Open
We present a system enabling a modular robot to autonomously build structures in order to accomplish high-level tasks. Building structures allows the robot to surmount large obstacles, expanding the set of tasks it can perform. This addres…